VIBRATION SUPPRESSION FOR A CLASS OF FLEXIBLE MANIPULATOR CONTROL WITH INPUT SHAPING TECHNIQUE
The input shaping method has been applied to the control of many types of flexible systems. Input shaping is a simple and effective method for reducing the residual vibration when positioning lightly damped systems. A feedback linearization combined with input shaping control approach is proposed for flexible manipulators in this paper. The dynamics of single link flexible manipulators is partially linearized using feedback linearization scheme. Meanwhile, the control scheme is combined with an input shaper for vibration suppression.The reference input signals are pre-shaped to suppress the tip vibration. Simulation results have confirmed the effectiveness of the proposed control method.
Flexible manipulator Input shaping Feedback linearization Vibration control
KE-PING LIU YUAN-CHUN LI
School of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 13001 Department of Control Science and Engineering, Jilin University, Changchun 130025, China
国际会议
2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)
大连
英文
835-839
2006-08-13（万方平台首次上网日期，不代表论文的发表时间）