Modelling and Open-Loop Control of a Single-Link Flexible Manipulator with Genetic Algorithms

Abstract

An open-loop control strategy for vibration suppression of a flexible manipulator system using genetic algorithms is presented in this paper. This consists of developing suitable forcing functions so that the dominant vibration modes of the system are not excited and hence the system vibration is reduced. The method requires that the vibration modes of the system be determined very precisely. Genetic algorithms (GAs) are used for this purpose. Low-pass and band-stop (elliptic type) filtered bang-bang torque inputs are accordingly developed on the basis of the identified vibration modes. The filtered torque inputs thus developed are applied to the system in an open-loop configuration and their performances in suppressing structural vibrations of the system are assessed in comparison to a bang-bang torque input. A comparative study of the low-pass and band-stop filtered torque inputs in suppressing the system vibrations are also presented and discussed.