Modelling and H2 control of a single-link flexible manipulator
نویسنده
چکیده
The aim of this study is to investigate motion in the horizontal and the vertical planes of a single-link flexible manipulator. The manipulator is modelled including gravity terms, and it is verified experimentally that the horizontal and the vertical motions are decoupled for a cylindrically symmetrical link and payload. The mathematical model is used to design a mixed-sensitivity H2 controller. The sensitivity weighting function is used to obtain the required disturbance rejection properties, including zero sensitivity to a force disturbance in the steady state (i.e. integral action control ). The control sensitivity weighting function is chosen to guarantee stability despite variation in the payload mass. The controller is compared experimentally with a proportional-plus-integral controller with velocity feedback and shown to give improved vibration control performance in the vertical plane.
منابع مشابه
QFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملBoundary Feedback Stabilization of a Nonlinear Flexible Gantry Manipulator Using Disturbance Observer
This paper aims to develop a boundary control solution for a single-link gantry robot manipulator with one axis of rotation. The control procedure is considered with link’s transverse vibrations while system undergoes rigid body nonlinear large rotation and translation. Initially, based on Hamilton principle, governing equations of hybrid motions as a set of partial differential equations...
متن کاملDynamic Load Carrying Capacity of Flexible Manipulators Using Finite Element Method and Pontryagin’s Minimum Principle
In this paper, finding Dynamic Load Carrying Capacity (DLCC) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. The finite element method was employed for modelling and deriving the dynamic equations of the system. The study employed indirect solution of optimal control for system motion planning. Due to offline nature of the method, many diffic...
متن کاملNonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots
Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
متن کاملMixed Sensitivity H2/H∞ Control of a Flexible-Link Robotic Arm
Dynamics of multi-link manipulators with flexible links include complex high-order equations which make their control problem very challenging. This paper presents a new method for simultaneous motion and vibration control of a twolink flexible manipulator using H2/H∞ control. A multi-element finite element model of the manipulator is casted into the generalized plant model, and H2 and H∞ contr...
متن کامل