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Hybrid learning control schemes with input shaping of a flexible manipulator system.

The paper describes a practical approach to investigate and develop a hybrid iterative learning control scheme with input shaping. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A colloca...

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Main Authors:	Md. Zain, M. Z., Tokhi, M. O., Mohamed, Z.
Format:	Article
Language:	English
Published:	Elsevier 2006
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/398/1/1.pdf http://eprints.utm.my/id/eprint/398/ http://dx.doi.org/10.1016/j.mechatronics.2005.11.004
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id	my.utm.398
record_format	eprints
spelling	my.utm.3982017-10-23T06:30:12Z http://eprints.utm.my/id/eprint/398/ Hybrid learning control schemes with input shaping of a flexible manipulator system. Md. Zain, M. Z. Tokhi, M. O. Mohamed, Z. TK Electrical engineering. Electronics Nuclear engineering The paper describes a practical approach to investigate and develop a hybrid iterative learning control scheme with input shaping. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control with acceleration feedback and genetic algorithms (GAs) for optimization of the learning parameters and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the hybrid learning control scheme with input shaping is assessed in terms of input tracking and level of vibration reduction. The effectiveness of the control schemes in handling various payloads is also studied. Elsevier 2006 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/398/1/1.pdf Md. Zain, M. Z. and Tokhi, M. O. and Mohamed, Z. (2006) Hybrid learning control schemes with input shaping of a flexible manipulator system. Mechatronics, 16 (3-4). pp. 209-219. ISSN 0957-4158 http://dx.doi.org/10.1016/j.mechatronics.2005.11.004 10.1016/j.mechatronics.2005.11.004
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Md. Zain, M. Z. Tokhi, M. O. Mohamed, Z. Hybrid learning control schemes with input shaping of a flexible manipulator system.
description	The paper describes a practical approach to investigate and develop a hybrid iterative learning control scheme with input shaping. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control with acceleration feedback and genetic algorithms (GAs) for optimization of the learning parameters and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the hybrid learning control scheme with input shaping is assessed in terms of input tracking and level of vibration reduction. The effectiveness of the control schemes in handling various payloads is also studied.
format	Article
author	Md. Zain, M. Z. Tokhi, M. O. Mohamed, Z.
author_facet	Md. Zain, M. Z. Tokhi, M. O. Mohamed, Z.
author_sort	Md. Zain, M. Z.
title	Hybrid learning control schemes with input shaping of a flexible manipulator system.
title_short	Hybrid learning control schemes with input shaping of a flexible manipulator system.
title_full	Hybrid learning control schemes with input shaping of a flexible manipulator system.
title_fullStr	Hybrid learning control schemes with input shaping of a flexible manipulator system.
title_full_unstemmed	Hybrid learning control schemes with input shaping of a flexible manipulator system.
title_sort	hybrid learning control schemes with input shaping of a flexible manipulator system.
publisher	Elsevier
publishDate	2006
url	http://eprints.utm.my/id/eprint/398/1/1.pdf http://eprints.utm.my/id/eprint/398/ http://dx.doi.org/10.1016/j.mechatronics.2005.11.004
_version_	1643643093717614592
score	13.211869

Hybrid learning control schemes with input shaping of a flexible manipulator system.

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