Intelligent modelling and active vibration control of flexible manipulator system

Abstract

Unwanted vibration of flexible manipulator results in unsatisfactory performance of any dynamic system using the flexile manipulator. This paper presents a robust control strategy in order to suppress undesirable vibration due to flexible manipulator maneuver. First, the appropriate model of the flexible manipulator is extracted by applying the control-model identification technique for linear and nonlinear model, namely, autoregressive with exogenous input (ARX) model and nonlinear ARX (NARX) respectively. The linear model is estimated by recursive least square method (RLS) and nonlinear model identified by artificial neural network (NN). Finally, the PID controller is designed for each proposed model to cancel the vibration of the flexible manipulator. The robustness of the controller is evaluated by imposing new disturbances into the linear and nonlinear systems. System identification and controller design is conducted by numerical and simulation approaches. The results from simulation indicate that performance of PID controller using linear model is satisfactory compared to nonlinear model