Universiti Teknologi Malaysia Institutional Repository

Hybrid iterative learning control of a flexible manipulator

Zain, M Z M and Tokhi, M O and Mohamed, Z and Mailah, M (2004) Hybrid iterative learning control of a flexible manipulator. Proceedings of the 23rd IASTED International Conference Modelling, Identification and Control . pp. 313-318.



This paper presents an investigation into the development of a hybrid control scheme with iterative learning for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller using hub angle and hub velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a non-collocated proportional-integral-derivative (PID) controller with iterative learning for control of vibration of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed PD-PID control scheme. The effectiveness of the control scheme in handling various payloads is also studied.

Item Type:Article
Uncontrolled Keywords:Flexible manipulator, hybrid control, iterative learning.
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:517
Deposited By: Dr Abd Rahim Abu Bakar
Deposited On:16 Feb 2007 07:23
Last Modified:01 Jun 2010 02:45

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