Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator
This chapter proposes the development of a hybrid iterative learning control scheme with acceleration feedback. The learning schemes considered are the PD-type, PI-type and PID-type. The experimental flexible manipulator rig is used to demonstrate the effectives of the proposed control strategy....
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| Format: | Book Section |
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Penerbit UTM
2007
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| _version_ | 1796855253670297600 |
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| author | Md. Zin, Mohd. Zarhamdy Hussein, Mohamed Tokhi, M. Osman |
| author_facet | Md. Zin, Mohd. Zarhamdy Hussein, Mohamed Tokhi, M. Osman |
| author_sort | Md. Zin, Mohd. Zarhamdy |
| collection | ePrints |
| description | This chapter proposes the development of a hybrid iterative learning control scheme with acceleration feedback. The learning schemes considered are the PD-type, PI-type and PID-type. The experimental flexible manipulator rig is used to demonstrate the effectives of the proposed control strategy. A collocated PD controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate non-collocated and iterative learning control with acceleration feedback using a heuristic approach to optimise the learning parameters for control of vibration (flexible motion) of the system. The hybrid collocated and non-collocated control scheme has previously been proposed for control of the flexible manipulator (Tokhi and Azad, 1996). The controller design utilised end-point deflection feedback through a PID control scheme and a PD configuration for control of the rigid body motion of the flexible manipulator. This control scheme is thus tested and investigated within the new hybrid learning control schemes. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the learning algorithms and hybrid learning control scheme without and with acceleration feedback is assessed in terms of level of vibration reduction at resonance modes, robustness and input tracking. The effectiveness of the control schemes in handling various payloads is also studied. |
| first_indexed | 2024-03-05T18:25:54Z |
| format | Book Section |
| id | utm.eprints-13493 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T18:25:54Z |
| publishDate | 2007 |
| publisher | Penerbit UTM |
| record_format | dspace |
| spelling | utm.eprints-134932017-10-05T07:28:30Z http://eprints.utm.my/13493/ Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator Md. Zin, Mohd. Zarhamdy Hussein, Mohamed Tokhi, M. Osman TJ Mechanical engineering and machinery This chapter proposes the development of a hybrid iterative learning control scheme with acceleration feedback. The learning schemes considered are the PD-type, PI-type and PID-type. The experimental flexible manipulator rig is used to demonstrate the effectives of the proposed control strategy. A collocated PD controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate non-collocated and iterative learning control with acceleration feedback using a heuristic approach to optimise the learning parameters for control of vibration (flexible motion) of the system. The hybrid collocated and non-collocated control scheme has previously been proposed for control of the flexible manipulator (Tokhi and Azad, 1996). The controller design utilised end-point deflection feedback through a PID control scheme and a PD configuration for control of the rigid body motion of the flexible manipulator. This control scheme is thus tested and investigated within the new hybrid learning control schemes. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the learning algorithms and hybrid learning control scheme without and with acceleration feedback is assessed in terms of level of vibration reduction at resonance modes, robustness and input tracking. The effectiveness of the control schemes in handling various payloads is also studied. Penerbit UTM 2007 Book Section PeerReviewed Md. Zin, Mohd. Zarhamdy and Hussein, Mohamed and Tokhi, M. Osman (2007) Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator. In: Recent Trends In Systems And Control. Penerbit UTM, Johor, pp. 73-96. ISBN 978-983-52-0545-3 |
| spellingShingle | TJ Mechanical engineering and machinery Md. Zin, Mohd. Zarhamdy Hussein, Mohamed Tokhi, M. Osman Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| title | Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| title_full | Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| title_fullStr | Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| title_full_unstemmed | Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| title_short | Hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| title_sort | hybrid interactive learning control scheme with acceleration feedback of flexible manipulator |
| topic | TJ Mechanical engineering and machinery |
| work_keys_str_mv | AT mdzinmohdzarhamdy hybridinteractivelearningcontrolschemewithaccelerationfeedbackofflexiblemanipulator AT husseinmohamed hybridinteractivelearningcontrolschemewithaccelerationfeedbackofflexiblemanipulator AT tokhimosman hybridinteractivelearningcontrolschemewithaccelerationfeedbackofflexiblemanipulator |