Pneumatic drive active vibration control for flexible manipulator using an adaptive interactive PD controller

Abstract

A pneumatic drive system is used as the actuator of a flexible manipulator to control its motion as a rigid body and suppress its vibration when consider its low stiffness. A pulse code modulation (PCM) valve is used to construct a single-input dual-output control system. Due to the time-varying and nonlinear properties of the system, an improved adaptive interactive PD controller is applied for positioning and vibration control. The system model is used in simulation. A description of an adaptive interactive controller and our modification is provided. Experimental setup of this pneumatic drive system is described. Experiments for positioning and vibration control are conducted. The simulation and experimental results show the feasibility of the actuator and the effectiveness of the control strategy.

Optimized output-based input shaping for control of single-link flexible manipulator using linear matrix inequality

“…Besides, other researchers' have proposed various hybrid control schemes for flexible manipulators. The adaptive interactive proportional-derivative (PD) control approach for active vibration and position control of the pneumatic drive was investigated in [13], The system's rigid body motion was controlled using the pneumatic drive system. In [14], input tracking of flexible manipulators using a PD, PID, ZVDD and a hybrid fuzzy control approach was investigated.…”

Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator

“…The performance of ZV-PID and ZVDD-PID was assessed based on input tracking and vibration reduction. In [14], pneumatic drive active vibration control using an adaptive interactive PD controller was proposed. Pneumatic drive system is used as actuator which was used to control rigid body motion while adaptive interactive PD is also used for vibration and position control.…”