Tahir, N. M. and Hassan, S. M. and Mohamed, Z. and Ibrahim, A. G. (2017) Output based input shaping for optimal control of single link flexible manipulator. International Journal on Smart Sensing and Intelligent Systems, 10 (2). pp. 367-386. ISSN 1178-5608
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Abstract
Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it makes positioning of payload difficult especially when using various payloads. This paper present output based input shaping with two different control algorithms for optimal control of single link flexible manipulators. Output based filter (OBF) is designed using the signal output of the system and then incorporated with both linear quadratic regulator (LQR) and PID separately for position and residual vibration control. The Robustness of these control algorithms are tested by changing the payloads from 0g to30g, 50g and 70g in each case. Based on MATLAB simulation results and time response analysis, LQR-OBF outperformed the PID-OBF in both tracking and vibration reduction.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | oscillations, body motions |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 76370 |
| Deposited By: | Widya Wahid |
| Deposited On: | 29 Jun 2018 22:25 |
| Last Modified: | 29 Jun 2018 22:25 |
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