<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it makes positioning of payload difficult especially when using various payloads. This paper present output based input shaping with two different control algorithms for optimal control of single link flexible manipulators. Output based filter (OBF) is designed using the signal output of the system and then incorporated with both linear quadratic regulator (LQR) and PID separately for position and residual vibration control. The Robustness of these control algorithms are tested by changing the payloads from 0g to30g, 50g and 70g in each case. Based on MATLAB simulation results and time response analysis, LQR-OBF outperformed the PID-OBF in both tracking and vibration reduction.</p>
</abstract>

Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it makes positioning of payload difficult especially when using various payloads. This paper present output based input shaping with two different control algorithms for optimal control of single link flexible manipulators. Output based filter (OBF) is designed using the signal output of the system and then incorporated with both linear quadratic regulator (LQR) and PID separately for position and residual vibration control. The Robustness of these control algorithms are tested by changing the payloads from 0g to30g, 50g and 70g in each case. Based on MATLAB simulation results and time response analysis, LQR-OBF outperformed the PID-OBF in both tracking and vibration reduction.

OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it...

OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

Publié en ligne: 01 juin 2017

Pages: 1 - 20

Reçu: 10 mars 2017

Accepté: 17 avr. 2017

DOI: https://doi.org/10.21307/ijssis-2017-216

Mots clés
Single link flexible manipulator, residual vibrations, input shaping, linear quadratic regulator (LQR), PID controller, optimal control

© 2017 Nura Musa Tahir et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

Publié en ligne: 01 juin 2017

Pages: 1 - 20

Reçu: 10 mars 2017

Accepté: 17 avr. 2017

DOI: https://doi.org/10.21307/ijssis-2017-216

Mots clésSingle link flexible manipulator, residual vibrations, input shaping, linear quadratic regulator (LQR), PID controller, optimal control

© 2017 Nura Musa Tahir et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Single link flexible manipulator, residual vibrations, input shaping, linear quadratic regulator (LQR), PID controller, optimal control