Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller

Li, W.P.; Luo, Biao

doi:10.1016/j.jsv.2015.11.002

Cited by 44 publications

(16 citation statements)

References 34 publications

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“…In recent years, some application fields, such as aerospace and precision manufacturing, put forward lower energy consumption and higher reliability requirements for the manipulator operation performance 1‐3 . Compared with traditional rigid‐joint manipulators, manipulators with flexible (material) joints show better performance in these fields.…”

Section: Introductionmentioning

confidence: 99%

“…During past few decades, some methods of the active vibration suppression for FJMs have been greatly developed. To realize position control of an FJM, some strategies, such as PD control with gravity compensation, 8 adaptive input shaping method 1 and optimal control approach 9 are presented. To realize the tracking control of an FJM, Luca and Book 10 proposed a static feedback linearization (FL) method.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Yan

Lai

Meng

et al. 2020

Intl J Robust & Nonlinear

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This article presents a tracking control approach for a flexible‐joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent‐input‐disturbance (EID) method is proposed; (2) the unmodeled dynamics and dead zone are considered simultaneously in the tracking control of the FJM with single link; (3) in the control process, velocity measurements are not required in our approach. The robust stability of the EID‐based approach is proved, and the validity for the FJM with single link is illustrated by simulation results.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Yan

Lai

Meng

et al. 2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…This causes delays in the precise positioning of the end effector. For example, approximately a third of the time spent in the operation of the remote manipulator system of the space shuttle is used to wait for vibrations to decay to negligible values [3].…”

Section: Introductionmentioning

confidence: 99%

Enhanced vibration control of a multilink flexible manipulator using filtered inverse controller

2018

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Flexible manipulators have numerous advantages such as lightweight, high operation speed, and low power consumption. However, they suffer from link vibrations, especially when operated at high speeds followed by sudden stops. This limitation has been addressed using techniques such as adaptive filters, adaptive strain feedback gain, state feedback control, etc. This article presents a filtered inverse controller for the mitigation of link vibrations in a multilink flexible manipulator. To this end, the plant model, developed and linearized in Maple/Maplesim was inverted in MATLAB. The internal dynamics of the inverse model were stabilized using the state feedback technique. For safe and high-speed operations, the inverse model was augmented with a low pass filter to form the filtered inverse which was used as feedforward controller. Practical experiments were carried out in the dSPACE environment. Results show that filtered inverse controller yield not only faster response but relatively minimal link vibration when compared with the manipulator without vibration controller.

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“…It is generally known that a servo system contains unknown nonlinear functions, that is, geometric and physical parameter deviations, model uncertainties, unmeasured states and external disturbance, which are modeled as loss of effectiveness. In order to solve the problem of model uncertainty and external disturbance of a flexible joint, adaptive control strategy , higher‐order differential feedback control , adaptive sliding mode control , and a robust H ∞ control have been applied. Chang investigated a robust tracking controller for uncertain flexible‐joint robots with time delays and time‐varying perturbations.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L₂‐Gain Approach

Chu

Jia

2017

Asian Journal of Control

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In this study, a new backstepping control scheme is proposed to deal with the high accuracy flexible joint servo system's position control. Based on the introduction of non‐consecutive friction, the cascade dynamics equations of flexible joint are established. The macroscopic controller is designed using a backstepping design technique to suppress the flexibility and external disturbance based on the L2 property. To identify the non‐consecutive function, the wavelet neural networks (WNN) are utilized in the microscopic controller to compensate for nonlinear friction and uncertainties. The combined strategy of macro and micro controller can overcome the derivation explosion problem and avoid the joint acceleration measurement and upper bound forecast. Finally, stability analysis and mathematical simulations are presented to verify the effectiveness of this new controller.

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Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller

Cited by 44 publications

References 34 publications

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Enhanced vibration control of a multilink flexible manipulator using filtered inverse controller

Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L₂‐Gain Approach

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Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller

Cited by 44 publications

References 34 publications

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Enhanced vibration control of a multilink flexible manipulator using filtered inverse controller

Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L2‐Gain Approach

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Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L₂‐Gain Approach