Hybrid Controller for a Single Flexible Link Manipulator
In this study, the dynamic modeling and step input tracking control of single flexible link is studied. The Lagrange-assumed modes approach is applied to get the dynamic model of a planner single link manipulator. A Step input tracking controller is suggested by utilizing the hybrid controller appr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
University of Baghdad
2023-07-01
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| Series: | Journal of Engineering |
| Subjects: | |
| Online Access: | https://joe.uobaghdad.edu.iq/index.php/main/article/view/2211 |
| Summary: | In this study, the dynamic modeling and step input tracking control of single flexible link is studied. The Lagrange-assumed modes approach is applied to get the dynamic model of a planner single link manipulator. A Step input tracking controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. The first controller is a modified version of the proportional-derivative (PD) rigid controller to track the hub position while sliding mode (SM) control is used for vibration damping. Also, a second controller (a fuzzy logic based proportional-integral plus derivative (PI+D) control scheme) is developed for both vibration damping and hub position tracking. A comparison is made between the performances of these two controllers. The Hybrid controller with PD and SM shows better tracking behavior than obtained from the suggested fuzzy (PI+D)2 controller for a single link flexible manipulator.
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| ISSN: | 1726-4073 2520-3339 |