Output based input shaping for optimal control of single link flexible manipulator
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...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Published: |
Massey University
2017
|
| Subjects: |
| _version_ | 1796862493745741824 |
|---|---|
| author | Tahir, N. M. Hassan, S. M. Mohamed, Z. Ibrahim, A. G. |
| author_facet | Tahir, N. M. Hassan, S. M. Mohamed, Z. Ibrahim, A. G. |
| author_sort | Tahir, N. M. |
| collection | ePrints |
| description | 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. |
| first_indexed | 2024-03-05T20:12:27Z |
| format | Article |
| id | utm.eprints-76370 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T20:12:27Z |
| publishDate | 2017 |
| publisher | Massey University |
| record_format | dspace |
| spelling | utm.eprints-763702018-06-29T22:25:04Z http://eprints.utm.my/76370/ Output based input shaping for optimal control of single link flexible manipulator Tahir, N. M. Hassan, S. M. Mohamed, Z. Ibrahim, A. G. TK Electrical engineering. Electronics Nuclear engineering 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. Massey University 2017 Article PeerReviewed Tahir, N. M. and Hassan, S. M. and Mohamed, Z. and Ibrahim, A. G. (2017) Output based input shaping for optimal control of single link flexible manipulator. International Journal on Smart Sensing and Intelligent Systems, 10 (2). pp. 367-386. ISSN 1178-5608 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85019177728&partnerID=40&md5=0dd9a43d9e451647e5659e90776ac838 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Tahir, N. M. Hassan, S. M. Mohamed, Z. Ibrahim, A. G. Output based input shaping for optimal control of single link flexible manipulator |
| title | Output based input shaping for optimal control of single link flexible manipulator |
| title_full | Output based input shaping for optimal control of single link flexible manipulator |
| title_fullStr | Output based input shaping for optimal control of single link flexible manipulator |
| title_full_unstemmed | Output based input shaping for optimal control of single link flexible manipulator |
| title_short | Output based input shaping for optimal control of single link flexible manipulator |
| title_sort | output based input shaping for optimal control of single link flexible manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT tahirnm outputbasedinputshapingforoptimalcontrolofsinglelinkflexiblemanipulator AT hassansm outputbasedinputshapingforoptimalcontrolofsinglelinkflexiblemanipulator AT mohamedz outputbasedinputshapingforoptimalcontrolofsinglelinkflexiblemanipulator AT ibrahimag outputbasedinputshapingforoptimalcontrolofsinglelinkflexiblemanipulator |