Vibration suppression of the flexible manipulator using optimal input shaper and linear quadratic regulator

Abstract

This paper proposes a control strategy of a constrained planar flexible manipulator for vibration suppression using optimal input shaper (OIS) and linear quadratic regulator (LQR). An experimental setup of the flexible manipulator is presented, and the corresponding mathematical model is derived utilizing the assumed mode method and Lagrange dynamics equation. For the flexible manipulator, an OIS feedforward controller is applied to suppress its vibration and reduce time delay, and a LQR feedback controller is employed to control its angular position. Simulation and experiment are carried out, and the results related to the angular position tracking of the flexible manipulator are demonstrated. The effectiveness and superior performance of the proposed control strategy are verified.