Integral Resonant Control for Vibration Damping and Precise Tip-Positioning of a Single-Link Flexible Manipulator

Abstract

In this work we propose a control design method for single-link flexible manipulators. The proposed technique is based on the Integral Resonant Control (IRC) scheme. The controller consists of two nested feedback loops. The inner loop controls the joint angle and makes the system robust to joint friction. The outer loop, which is based on the IRC technique, damps the vibration and makes the system robust to the unmodeled dynamics (spill-over) and resonance frequency variations due to changes in the payload. The objectives of this work are: (i) to demonstrate the advantages of IRC, which is a high performance controller design methodology for flexible structures with collocated actuator-sensor pairs, and (ii) to illustrate its capability of achieving precise end-point (tip) positioning with effective vibration suppression when applied to a typical flexible manipulator. The theoretical formulation of the proposed control scheme, a detailed stability analysis and experimental results obtained on a flexible manipulator are presented.

Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems

“…As this is no longer an inherent system parameter, the feedthrough can be arbitrarily chosen, giving greater control over the response. IRC has found wide use in a number of applications including nanopositioning (Aphale et al, 2008b;Bhikkaji and Moheimani, 2008), smart structures (Aphale et al, 2007), and flexible link manipulators (Pereira et al, 2011) due to the simplicity of the design method and the stability and robustness properties. The structure of the IRC scheme is shown in Figure 2A, where G(s) is the plant, d is an arbitrarily chosen constant gain, and C d (s) is an integral controller given by…”

“…These damping controllers are not limited in use to nanopositioning. Successful implementation has been reported in applications, such as robotic manipulators (Pereira et al, 2011), disk drives (Numasato and Tomizuka, 2003), aircraft wings (Friedmann and Millott, 1995), scanning probe microscopes , MEMS/NEMS (Ferreira and Aphale, 2011), and high-density memory storage devices (Sebastian et al, 2008).…”

Design for Sensorless Force Control of Flexible Robot by Using Resonance Ratio Control Based on Coefficient Diagram Method

“…Controlling machine with the mechanical resonance has been receiving increased attention [6]- [7]. A new effective control method, the resonance ratio control [8], has been introduced by Yuki et al as a new way to guarantee the robustness and suppress the oscillation during task executions for position control system.…”

Vibration and tip deflection control of a Single-link flexible manipulator

“…There are two main issues that created problems in the designing of flexible manipulator controller, these problems are due to: (a) high order of the system and (b) non-minimum phase dynamics of the system that exist between the tip position and the applied input torque at the hub joint of the system explicitly in [2]. Two different approaches have been applied in literature for the control of the flexible robot arms, these are; i) linear control approach and ii) nonlinear control approach.…”

“…Two different approaches have been applied in literature for the control of the flexible robot arms, these are; i) linear control approach and ii) nonlinear control approach. Linear controllers such as H-infinity explicitly in [3], linear quadratic regulator (LQR) explicitly in [4], conventional PID control explicitly in [5] and integral resonant control (IRC) explicitly in [2,6], have been applied in the control of FMS. A Flexible manipulator is quite difficult to be accurately controlled by linear control approach due to their nonlinear dynamic structure.…”