Universiti Teknologi Malaysia Institutional Repository

Improving perfomance in single-link flexible manipulator using hybrid learning control

Md. Zain, Mohd. Zarhamdy and Tokhi, M. O. and Mailah, Musa and Mohamed, Zaharuddin (2004) Improving perfomance in single-link flexible manipulator using hybrid learning control. Jurnal Mekanikal (18). pp. 13-28. ISSN 0127-3396



An iterative learning control method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback configuration with hybrid control and the learning law updates the feedforward input from the error of the previous trial. The dynamic model of the flexible manipulator is derived using the finite element method. Initially, a collocated proportional-derivative (pd) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. The controller is then extended to incorporate a non-collocated proportional-integral-derivative (pid) controller and a feedforward controller based on input shaping techniques for control of vibration flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The pe$ormance 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 collocated pd and non-collocated pid control schemes.

Item Type:Article
Uncontrolled Keywords:iterative learning control, PD control, PID control, input shaping, flexible manipulator, vibration control.
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:7952
Deposited By: Norshiela Buyamin
Deposited On:30 Mar 2009 03:18
Last Modified:30 May 2017 06:43

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