A study on the tip tracking control of a single flexible beam

Abstract

This sequential paper aims to present studies on modelling and tip tracking control of a flexible single beam. It first outlines the flexible-beam robotic mechanism that was designed and built to be used for the force and torque sensory information-based modelling and control. It then details the vibration suppression controller strategy that is applied to this robotic system. The controller is designed with respect to a simple lumped model describing the dynamics of the system. Here the dynamics of the closed-loop controlled motor is inverted in order to obtain a system with unity dynamics. Further, the flexible-beam dynamics is input state linearized. Finally, a simple external feedback control, which is based on the measurements of beam deflections using a force and torque sensor, is implemented. The complete experimental setup was positioned by two servo-motors controlled by a proportional-integral-derivative controller for each axis. The proposed controllers allow the flexible beam to move continuously in a precise manner, so that it could be treated as an accurate positioning sensor. Simulation and experimental results provided at the end illustrate that the controllers designed and implemented produce a satisfactory control performance and adequate robustness to model uncertainties and system nonlinearities.

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

“…Before we design the controller, it should be considered that the model must be valid for both constrained and free movements. Therefore, we utilize the linear dynamic model (12) for constrained motion mode with collision at the intermediate points and utilize the linear dynamic model (14) in free motion mode. In the free motion mode, it is assumed that the end-effector in the zero initial contact angle had hit the object with zero impedance.…”

“…10 In the recent decades, various control approaches into flexible manipulator interacting with the environment have been proposed. [11][12][13][14][15][16][17][18][19] Some of these control strategies are in relation to the force control of the flexible robot. Moreover, in the last two decades, impedance control of the rigid manipulators interacting with the environment has been widely reviewed that can be found in the scientific literature.…”

Sampled-data extended state observer-based backstepping control of two-link flexible manipulator

“…Over the last three decades, control of FLM has been an active research area. A good review on control of FLMs is found in Lochan et al (2016); Sayahkarajy et al (2016); and Castillo-Berrio et al (2015). Owing to a nonlinear and non-minimum phase behavior coupled with model uncertainties and disturbances, control of such manipulator posses a challenging task.…”

Cross term constructed Lyapunov function based two-time scale controller design and vibration suppression for a rotating hub-beam system

“…Examples of their applications are satellite antennas, propellers, robots with flexible links and turbine blades. The modeling of flexible rotating beams has been addressed in many recent studies (Castillo-Berrio et al, 2016; Ji and Liu, 2018; Cai et al, 2005; Vakilzadeh et al, 2017; Yoo and Shin 1998). Yoo and Shin (1998) investigated equations of motion of a rotating cantilever beam while the coupling effect was considered and derived a set of linear equations of motion.…”

“…They also considered the existence of a flexible support in the proposed model of the hub-beam system. Castillo-Berrio et al (2016) presented the tip tacking control for a flexible single link using input state linearization. Furthermore, they used force and torque sensors to measure beam deflections and implemented an external feedback control.…”