H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; and state-feedback controllers for vibration suppression in a single-link flexible robot

Duarte, Franklyn; Ballesteros, Pablo; Bøhn, Christian

doi:10.1109/aim.2013.6584345

Cited by 6 publications

(5 citation statements)

References 12 publications

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“…91 A suboptimal H ∞ controller was deigned based on LMI for the purpose of vibration attenuation and disturbance rejection of a single-FLM with a payload, the proposed controller is capable to noticeably attenuate the vibration of the end point of the system and to reject the transient disturbance, the flexible link is attached by a pair of PZT actuators, and the position tracking of the system was controlled by a PID controller. 92 The H ∞ controller can be designed by calculating the H ∞ norm as in ref. [93], and the GA was employed for minimizing criterion of the H ∞ norm of the closed loop system.…”

Section: H ∞ Controller Hmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Section: H ∞ Controller Hmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…The model is truncated in the second mode, because in experimental studies [8,9,16,17] where system identification for cantilevered beams was performed, just the first two modes of vibration have considerable amplitude. The mode shape functions are assumed to have the form 1 1 ,…”

Section: Modelingmentioning

confidence: 99%

“…This separation is based on the assumption done in modeling of the flexible link, where clamped-free boundary conditions are used to determine a mathematical model of the link (beam) as long as either the joint has a large inertia compared with the link [7] or a feedback position control loop with a large gain is closed around the joint [12,14]. This approach has also been tested experimentally [8,9].…”

Section: Control Designmentioning

confidence: 99%

“…In active vibration control (AVC) of flexible links piezoelectric actuators have been used with different control strategies [2,[7][8][9]. Sliding mode control (SMC) has also been applied to flexible robots.…”

Section: Introductionmentioning

confidence: 99%

“…The model includes the effect of a pair of piezoelectric actuators on the structure, based on the assumptions of [13], as well as on the deformation modes. This work is an extension of [8,9] in the sense that two independent control loops are implemented. As control strategy a dual loop is proposed, position control loop and AVC control loop, for the former an industrial PID controller is used and for the latter a super twisting SMC is used.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Modeling and sliding mode control of a single-link flexible robot to reduce the transient response

Duarte

Ballesteros

Ullah

et al. 2015

2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)

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In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a single-link flexible robot, which includes rotational actuator, piezoelectric actuators, different kind of sensors, acceleration and deformation. The model is obtained under a classical mechanics approach: Lagrange Euler energy balance. The dynamics of the actuators is also included. Some parts of the resulting model are calculated using symbolic programming software, where as other are implemented and calculated dynamically during simulation. The resulting model is simulated in Matlab Simulink. The second objective is to develop an active vibration sliding mode controller (AVSMC) which include an observer to get an estimation of the rate of change flexible variable. The boundary values required for the implementation of the AVSMC are obtained from the formulated model. Experimental results show the effectiveness of the proposed controller.

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Rejection of a harmonic and transient disturbance in a single-link flexible robot provided with piezoelectric actuators

Duarte

Ballesteros

Bøhn

2014

2014 IEEE Conference on Control Applications (CCA)

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H<inf>∞</inf> and state-feedback controllers for vibration suppression in a single-link flexible robot

Cited by 6 publications

References 12 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Modeling and sliding mode control of a single-link flexible robot to reduce the transient response

Rejection of a harmonic and transient disturbance in a single-link flexible robot provided with piezoelectric actuators

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