Improving performance in single-link flexible manipulator using hybrid learning control
Journal article
Md Zain, MZ, Tokhi, MO, Mailah, M and Mohamed, Z (2004). Improving performance in single-link flexible manipulator using hybrid learning control. Jurnal Mekanikal. 18, pp. 13-28.
Authors | Md Zain, MZ, Tokhi, MO, Mailah, M and Mohamed, Z |
---|---|
Abstract | An iterative leaning control method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback configuration with hybrid control and the learning law updates the feedforward input from the error of the previous trial. The dynamic model of the flexible manipulator is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. The controller is then extended to incorporate a non-collocated proportional-integral-derivative (PID) controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion0 of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated PD and non-collocated PID control schemes. |
Keywords | Iterative learning control; PD control; PID control; Input shaping; Flexible manipulator; Vibration control |
Year | 2004 |
Journal | Jurnal Mekanikal |
Journal citation | 18, pp. 13-28 |
Web address (URL) | https://jurnalmekanikal.utm.my/index.php/jurnalmekanikal/issue/view/29 |
Publication dates | |
Dec 2004 | |
Publication process dates | |
Accepted | 01 Jan 2004 |
Deposited | 29 Apr 2020 |
Accepted author manuscript | License File Access Level Open |
https://openresearch.lsbu.ac.uk/item/89q0q
Download files
Accepted author manuscript
MdZain et al_JM_2004_18_13-28.pdf | ||
License: CC BY 4.0 | ||
File access level: Open |
144
total views34
total downloads1
views this month0
downloads this month