OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

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VOLUME 10 , ISSUE 2 (June 2017) > List of articles

OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

Nura Musa Tahir * / Sabo Miya Hassan * / Zaharuddin Mohamed / Ahmed Garba Ibrahim

Keywords : Single link flexible manipulator, residual vibrations, input shaping, linear quadratic regulator (LQR), PID controller, optimal control.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 10, Issue 2, Pages 367-386, DOI: https://doi.org/10.21307/ijssis-2017-216

License : (CC BY-NC-ND 4.0)

Received Date : 10-March-2017 / Accepted: 17-April-2017 / Published Online: 01-June-2017

ARTICLE

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.

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