文章基本信息

标题：OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR
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作者：Nura Musa Tahir ; Sabo Miya Hassan ; Zaharuddin Mohamed 等
期刊名称：International Journal on Smart Sensing and Intelligent Systems
印刷版ISSN：1178-5608
出版年度：2017
卷号：10
期号：2
页码：367-386
出版社：Massey University
摘要：Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it makes positioning of payload difficult especially when using various payloads. This paper present output based input shaping with two different control algorithms for optimal control of single link flexible manipulators. Output based filter (OBF) is designed using the signal output of the system and then incorporated with both linear quadratic regulator (LQR) and PID separately for position and residual vibration control. The Robustness of these control algorithms are tested by changing the payloads from 0g to30g, 50g and 70g in each case. Based on MATLAB simulation results and time response analysis, LQR-OBF outperformed the PID-OBF in both tracking and vibration reduction.
关键词：Single link flexible manipulator; residual vibrations; input shaping; linear quadratic regulator (LQR); PID controller; optimal control