Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is free from exact modelling and parameter identification. The NCT is determined from an open-loop response and the PI compensator is used to make the manipulator motion to follow the NCT. The effectiveness of the NCTF controller is evaluated and compared with proportional-derivative (PD) controller and fuzzy logic controller as a benchmark. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Moreover, performances of the controller are examined in terms of vibration suppression and disturbances cancellation.
M.A.Ahmad R.M.T.Raja Ismail M.S.Ramli
Control and Instrumentation Research Group Faculty of Electrical and Electronics Engineering, Univer Control and Instrumentation Research Group Faculty of Electrical and Electronics Engineering,Univers
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）