- Title
- A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator
- Creator
- Pereira, Emiliano; Aphale, Sumeet S.; Feliu, Vicente; Moheimani, S. O. Reza
- Relation
- 5th IEEE International Conference on Mechatronics (ICM 2009). Proceedings of the 5th IEEE International Conference on Mechatronics (Malaga, Spain 14-17 April, 2009)
- Publisher Link
- http://dx.doi.org/10.1109/ICMECH.2009.4957128
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2009
- Description
- In this work, we propose a new control approach for a single-link flexible manipulator, based on the integral resonant control (IRC) scheme. A hybrid control scheme consisting of two nested loops by treating the joint angle and the torque measured at the base of the arm (coupling torque) as the system outputs are formulated. It is shown that the IRC scheme, a high performance controller design methodology for flexible structures with collocated actuator-sensor pairs, can be implemented in a flexible manipulator to achieve precise end-point positioning with effective vibration suppression. Experimental results are presented in order to validate the proposed control scheme. Finally, a brief discussion is included to highlight the contributions of this work in broad area of controlling single-link flexible manipulators.
- Subject
- hybrid control strategy; integral resonant control; single-link flexible manipulator; vibration suppression
- Identifier
- uon:8717
- Identifier
- http://hdl.handle.net/1959.13/918833
- Identifier
- ISBN:9781424441952
- Rights
- Copyright © 2009 IEEE. Reprinted from the Proceedings of the 5th IEEE International Conference on Mechatronics. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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