Active vibration control of flexible manipulator using auto disturbance rejection and input shaping-Reference-Cited by-同舟云学术

Active vibration control of flexible manipulator using auto disturbance rejection and input shaping

Published:2013-10-03 Issue:10 Volume:228 Page:1909-1922
ISSN:0954-4100
Container-title:Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering

Author:

Luo Bo¹,Huang Hai¹,Shan Jinjun²,Nishimura Hidekazu³

Affiliation:

1. School of Astronautics, Beihang University, Beijing, China

2. Department of Earth and Space Science and Engineering, York University, Toronto, Ontario, Canada

3. Graduate School of System Design and Management, Keio University, Kanagawa, Japan

Abstract

This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair. A hybrid vibration controller is proposed by combining the input shaping technique with auto disturbance rejection controller. The parameters of the closed-loop system can be adjusted to the known values by disturbance compensation and linear feedback using the auto disturbance rejection controller. This way, input shaper can be designed without accurate parameters of the flexible manipulator. Both simulation and experiments are conducted to validate the proposed control algorithm. The results verified the effectiveness of the proposed controller in vibration suppression of flexible manipulator.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Aerospace Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/0954410013505951

Reference25 articles.

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2. Dynamic modeling and adaptive control of a single-link flexible manipulator

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5. Posicast Control of Damped Oscillatory Systems

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