Abstract
This paper presents robust control of a single-link flexible manipulator which consists of two actuators: a motor mounted at the hub and a piezoceramic bonded to the surface of the flexible link. The control torque of the motor activates desirable hub motion and the control voltage of the piezoceramic actively suppresses undesirable vibration of the flexible link yielding an accurate endpoint position of the manipulator. As a first step to achieve this control target, two transfer functions are established in the Laplace domain; one is from input torque to output hub angle and the other is from input voltage to output tip-deflection. The QFT (quantitative feedback theory) is then adopted to formulate robust controllers associated with two actuators. Two QFT compensators are designed on the basis of a stability criterion which prescribes a bound on the peak of an M-contour in the Nichols chart (NC). In the formulation of the compensator for the piezoceramic, the hysteresis behavior is considered as a structured plant uncertainty. A prefilter for the motor is subsequently designed in order to improve the transient and steady state control responses. Tracking control characteristics are analysed through computer simulation and experimental implementation in order to demonstrate the effectiveness of the proposed control methodology.
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