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Simulation and experimental studies of hybrid learning control with acceleration feedback for flexible manipulators

Md. Zain, M. Z. (2005) Simulation and experimental studies of hybrid learning control with acceleration feedback for flexible manipulators. In: 8th International Conference On Climbimg and Walking Robots and The support Technologies for Mobile Macines,London, UK, 2005, London, UK.

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Official URL: https://link.springer.com/chapter/10.1007/3-540-26...

Abstract

This paper presents investigations at developing a hybrid iterative learning control scheme with acceleration feedback (PDILCAF) for flexible robot manipulators. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. In this work the dynamic model of the flexible manipulator is derived using the finite element (FE) method. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control with acceleration feedback and genetic algorithms (GAs) for optimization of the learning parameters for control of vibration (flexible motion) of the system. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the hybrid learning control scheme without and with acceleration feedback is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Acceleration feedback ,flexible manipulator ,genetic algorithms ,iterative learning control
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:21408
Deposited By: Mrs Liza Porijo
Deposited On:29 Aug 2017 04:57
Last Modified:29 Aug 2017 04:57

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