Universiti Teknologi Malaysia Institutional Repository

Linear matrix inequality-based robust proportional derivative control of a two-link flexible manipulator

Mohamed, Z. and Khairudin, M. and Husain, A. R. and Subudhi, B. (2016) Linear matrix inequality-based robust proportional derivative control of a two-link flexible manipulator. JVC/Journal of Vibration and Control, 22 (5). pp. 1244-1256. ISSN 1077-5463

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Abstract

This paper presents the design and development of a robust proportional derivative (PD) controller based on linear matrix inequality (LMI) for the control of a hub angular position and end-point deflection of a planar two-link flexible manipulator. The dynamics of the manipulator is uncertain and time varying due to the variation of payloads that result in large variations in the excitation of flexible modes. Practical design steps are presented in which the LMI-based conditions are formulated to obtain a robust PD gains to control the flexible manipulator. The robust controller has an advantage as compared to the Ziegler-Nichols tuned PD controller as the identified PD gains can be used to control the system under various loading conditions. The performances of the proposed controller are evaluated in terms of input tracking capability of the hub angular position response and level of deflection of both links of the flexible manipulator. Experimental results show that despite using the same sets of PD gains, LMI-PD control provides better robustness and system performance.

Item Type:Article
Uncontrolled Keywords:Flexible manipulators, Identification (control systems), Linear matrix inequalities, Manipulators, Matrix algebra, Robust control, Angular positions, Design and Development, Loading condition, PD control, Proportional-derivative control, Proportional-derivative controllers, Robust controllers, Tracking capability, Controllers
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:73833
Deposited By: Haliza Zainal
Deposited On:18 Nov 2017 08:09
Last Modified:18 Nov 2017 08:09

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