Experimental Identification and Vibration Control of A Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control

Abstract

This paper presents experimental identification and vibration suppression of a flexible manipulator with piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined where the move distance of the closed loop poles is the shortest. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Accordingly, multi-mode vibrations of the manipulator are well attenuated.

Review on Modeling and Control of Flexible Link Manipulators

“…Mohamed et al (2016) performed system identification to obtain a set of linear models of a two-link flexible manipulator. Lou et al (2017) proposed a reduced-order transfer function with relocated zeros and added a first-order inertia element to the model to precisely identify the system model. Ripamonti et al (2017) identified model parameters using the Prony method and a minimization of the error between the numerical and experimental frequency response function (FRF) in the frequency domain.…”

“…Many classical feedback control techniques have been explored for the active vibration suppression of FLMs. Lou et al (2017) presented experimental identification and multi-mode vibration suppression of a flexible manipulator with piezoelectric actuators and strain sensors using optimal multi-poles placement control technique. Badfar and Abdollahi (2019) used a linear matrix inequality approach to address trajectory tracking control of two-link rigid-flexible manipulator based on linear state-space model and linear quadratic regulator.…”

Finite Element Model of Vibration Control for an Exponential Functionally Graded Timoshenko Beam with Distributed Piezoelectric Sensor/Actuator

“…Two PZT actuators are bonded onto both sides of the FGM beam. Moreover, a laser displacement sensor can be used to measure The experimental setup that is given and illustrated in reference [41] can be used to validate our analytic results. To fulfill the illustration of structural responses in the low frequency scope, the PZT sensors are attached on both sides of the FGM beam.…”

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

“…Therefore, the payload parameters are identified to obtain the new system characteristic after the operation. The identified parameters can be used to adjust the adaptive control law and provide an important reference for improving the overall performance of the system [5][6][7]. In particular, if the manipulator is used to capture a payload with an unknown property (e.g., a noncooperative object), then accurately identifying object parameters can be implemented to recalculate uncertain parameters periodically and update the certainty equivalence controller with unexpected parameter variations conveniently [8].…”