Abstract
In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control using the resonant frequencies at different resonant modes of the system which were determined from experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking control and to achieve zero steady state error. The performance of the proposed control scheme is investigated via simulations and the results show the effectiveness of the control scheme, in addition the controller is tested to show it robustness using different values of payload.
Highlights
For the past two decades, there is a significant increase in the number of research on the control of flexible manipulator, this is due to an increase in the demand for high speed robots in our industries[1]
A hybrid controller have been designed consisting of two different controllers namely resonant controller and fuzzy controller, the purpose of the controller is to eliminated the vibration effects and tip deflection of a single link flexible manipulator system
The results shows changesin both overshot, settling time and maximum tip deflection with different payload values
Summary
For the past two decades, there is a significant increase in the number of research on the control of flexible manipulator, this is due to an increase in the demand for high speed robots in our industries[1]. There are two main issues that created problems in the designing of flexible manipulator controller, these problems are due to: (a) high order of the system and (b) non-minimum phase dynamics of the system that exist between the tip position and the applied input torque at the hub joint of the system explicitly in[2]. Two different approaches have been applied in literature for the control of the flexible robot arms, these are; i) linear control approach and ii) nonlinear control approach. A Hybrid control scheme is developed with two feedback controllers: A resonant controller and a PD-type fuzzy logic controller are designed as the inner and outer feedback control loops for a rigid body (hub joint) vibration control and tip deflection control for flexible motion of a single link flexible manipulator respectively. The rest of this paper is organized as follows: section 2 presented the system model, section 3 presented resonant and fuzzy logic controller design, and discussion of results is presented in section 4 and section 5 give the conclusion
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