Master‐Slave Integrated Control for the Transverse Vibration of a Translational Flexible Manipulator Based on Input Shaping and State Feedback

Abstract

The problem of the elastic vibration control for a translational flexible manipulator system (TFMS) under variable load conditions is studied. The input shaper can effectively filter out the vibration excitation components for the flexible manipulator in the driving signals, but the adaptability and rapidity of the conventional input shaper are poor because it is essentially an open-loop control mode and there are time-lag links inevitably. Thus, by combining the state feedback with the input shaping, a master-slave integrated controller of the TFMS is proposed. Moreover, in order to solve the time-lag effect of the conventional input shaper, based on the optimal algorithm, a two-mode vibration cascade shaper for the TFMS is designed. Then, under variable load conditions, the control effects of the conventional input shapers, the two-mode vibration cascade shaper, and the combination of the state feedback integral controller (SFIC) with the above shapers are investigated. The results show that the designed master-slave integrated controller has high robustness under variable load conditions and takes good account of the requirements of system response time and overshoot for achieving the goal of nonovershoot under fast response speed. Simulation experiment results verify the effectiveness of the designed controller.

Review on Modeling and Control of Flexible Link Manipulators

“…Tahir et al (2017) designed output based filter and incorporated it with linear quadratic regulator and PID controller separately for the position and residual vibration control of single-link flexible manipulator and highlighted the superior performance of linear quadratic regulator over PID controller in tracking, vibration suppression, and robustness to payload variation. Ju et al (2019) combined the state feedback control with the input shaping technique for vibration control of translational flexible manipulator under variable load conditions. Giorgio and Del Vescovo (2018) studied trajectory tracking and vibration control of the highly flexible planar multi-link flexible manipulator using an optimal input pre-shaping approach and feedback from the joint angles to make the system less sensitive to external disturbances.…”

Master‐Slave Composite Vibration Control of a Mobile Flexible Manipulator via Synchronization Optimization of Observation and Feedback

“…en, the first two modes of the flexible manipulator are taken into consideration [37,38]. And according to Section 3, the observational gains of the TSOO can be determined as K z � 1.5800E5 2.5567E3 T and K f � 3.2627E4 2.1494E3 0.0014 − 0.0163 T .…”