Improving perfomance in single-link flexible manipulator using hybrid learning control
An iterative learning control method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback configuration with hybrid control and the learning law updates the feedforward input from...
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| Format: | Article |
| Language: | en |
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Faculty of Mechanical Engineering
2004
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| Online Access: | http://eprints.utm.my/7952/1/M.Mailah2004_ImprovingPerfomanceInSingle-LinkFlexible.PDF http://eprints.utm.my/7952/ |
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| _version_ | 1845471915446108160 |
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| author | Md. Zain, Mohd. Zarhamdy Tokhi, M. O. Mailah, Musa Mohamed, Zaharuddin |
| author_facet | Md. Zain, Mohd. Zarhamdy Tokhi, M. O. Mailah, Musa Mohamed, Zaharuddin |
| author_sort | Md. Zain, Mohd. Zarhamdy |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | An iterative learning control method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback configuration with hybrid control and the learning law updates the feedforward input from the error of the previous trial. The dynamic model of the flexible manipulator is derived using the finite element method. Initially, a collocated proportional-derivative (pd) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. The controller is then extended to incorporate a non-collocated proportional-integral-derivative (pid) controller and a feedforward controller based on input shaping techniques for control of vibration flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The pe$ormance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated pd and non-collocated pid control schemes. |
| format | Article |
| id | my.utm.eprints-7952 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2004 |
| publisher | Faculty of Mechanical Engineering |
| record_format | eprints |
| spelling | my.utm.eprints-79522017-05-30T06:43:15Z http://eprints.utm.my/7952/ Improving perfomance in single-link flexible manipulator using hybrid learning control Md. Zain, Mohd. Zarhamdy Tokhi, M. O. Mailah, Musa Mohamed, Zaharuddin TJ Mechanical engineering and machinery An iterative learning control method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback configuration with hybrid control and the learning law updates the feedforward input from the error of the previous trial. The dynamic model of the flexible manipulator is derived using the finite element method. Initially, a collocated proportional-derivative (pd) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. The controller is then extended to incorporate a non-collocated proportional-integral-derivative (pid) controller and a feedforward controller based on input shaping techniques for control of vibration flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The pe$ormance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated pd and non-collocated pid control schemes. Faculty of Mechanical Engineering 2004-12 Article PeerReviewed application/pdf en http://eprints.utm.my/7952/1/M.Mailah2004_ImprovingPerfomanceInSingle-LinkFlexible.PDF Md. Zain, Mohd. Zarhamdy and Tokhi, M. O. and Mailah, Musa and Mohamed, Zaharuddin (2004) Improving perfomance in single-link flexible manipulator using hybrid learning control. Jurnal Mekanikal (18). pp. 13-28. ISSN 0127-3396 |
| spellingShingle | TJ Mechanical engineering and machinery Md. Zain, Mohd. Zarhamdy Tokhi, M. O. Mailah, Musa Mohamed, Zaharuddin Improving perfomance in single-link flexible manipulator using hybrid learning control |
| title | Improving perfomance in single-link flexible manipulator using hybrid learning control |
| title_full | Improving perfomance in single-link flexible manipulator using hybrid learning control |
| title_fullStr | Improving perfomance in single-link flexible manipulator using hybrid learning control |
| title_full_unstemmed | Improving perfomance in single-link flexible manipulator using hybrid learning control |
| title_short | Improving perfomance in single-link flexible manipulator using hybrid learning control |
| title_sort | improving perfomance in single-link flexible manipulator using hybrid learning control |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/7952/1/M.Mailah2004_ImprovingPerfomanceInSingle-LinkFlexible.PDF http://eprints.utm.my/7952/ |
| url_provider | http://eprints.utm.my/ |