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

Duarte, Franklyn; Ballesteros, Pablo; Bøhn, Christian

doi:10.1109/cca.2014.6981563

Cited by 5 publications

(4 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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 3 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)

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Modelingmentioning

confidence: 99%