Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator
نویسندگان
چکیده
منابع مشابه
Hybrid Learning Control with Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator
The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity...
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The paper describes a practical approach to investigate and develop a hybrid iterative learning control scheme with input shaping. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is develo...
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ژورنال
عنوان ژورنال: Jurnal Teknologi
سال: 2012
ISSN: 2180-3722,0127-9696
DOI: 10.11113/jt.v44.353