Precise Automation of Rotary Flexible Link Manipulator Using Hybrid Input Shaping With Single State Feedback Fuzzy Logic and Sliding Mode Controllers

In this paper, the vibration suppression and trajectory tracking control of a flexible joint manipulator (FJM) based on particle swarm optimization (PSO) and fixed-time nonsingular terminal sliding mode control (NTSMC) are studied. Firstly, in order to suppress the residual vibration of the FJM, an optimal trajectory planning method based on higher-order trajectory planning (HOTP) and the PSO algorithm is proposed. Then, to ensure that the FJM can track the optimized trajectory without being affected by the initial value of the trajectory, a novel fixed-time NTSMC scheme is proposed. Compared with the cubic spline trajectory, the proposed HOTP is smoother and can more accurately suppress the residual vibration of the FJM. By combining the HOTP with the PSO algorithm, the vibration amplitude of FJM can be suppressed to around 0.002 mm. Unlike finite-time NTSMC, the rate of convergence of the proposed fixed-time NTSMC does not depend on the initial value of FJM’s joint trajectory. Especially when the initial value of the trajectory is large, the FJM can still quickly track the optimal trajectory within 0 to 1 s. Finally, the effectiveness of this method is verified through simulation and comparison.

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Precise Automation of Rotary Flexible Link Manipulator Using Hybrid Input Shaping With Single State Feedback Fuzzy Logic and Sliding Mode Controllers

Cited by 2 publications

References 33 publications

Dynamic Modelling and Intelligent Hybrid Optimal Controller of Hybrid Manipulator for Vibration Suppression and Tracking Control

Dynamic Modelling and Intelligent Hybrid Optimal Controller of Hybrid Manipulator for Vibration Suppression and Tracking Control

Vibration Suppression and Trajectory Tracking Control of Flexible Joint Manipulator Based on PSO Algorithm and Fixed-Time Control

Contact Info

Product

Resources

About