Pso Based Flat Control of a Single Link Flexible Manipulator
نویسندگان
چکیده
This paper presents an intelligent method of tuning a flat controller for trajectory tracking of a single link flexible manipulator. The tip position of the manipulator was determined as the flat output. Using the flat output, a feedback control law is designed to stabilize the tip of the end effector and track the reference trajectories. The gains obtained for the flat controller is optimized using particle swarm optimization. Results show fast response to system trajectories, good tracking performance with no overshoots.
منابع مشابه
QFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملBoundary Feedback Stabilization of a Nonlinear Flexible Gantry Manipulator Using Disturbance Observer
This paper aims to develop a boundary control solution for a single-link gantry robot manipulator with one axis of rotation. The control procedure is considered with link’s transverse vibrations while system undergoes rigid body nonlinear large rotation and translation. Initially, based on Hamilton principle, governing equations of hybrid motions as a set of partial differential equations...
متن کاملSelf-tuning Active Vibration Controller using Particle Swarm Optimization for Flexible Manipulator System
This paper presents the development of an optimal self-tuning PID controller for vibration suppression of flexible manipulator structures using particle swarm optimization (PSO). A simulation environment characterizing the dynamic behavior of the flexible manipulator system was first developed using finite difference (FD) approach to acquire the input-output data of the system. The global searc...
متن کاملNonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots
Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
متن کاملSwarm Optimization of an Active Vibration Controller for Flexible Manipulator
This paper presents the development of an optimal PID controller for vibration control of flexible manipulator structures using particle swarm optimization (PSO) for tuning the PID parameters. The flexible manipulator system is first modeled using finite difference (FD) approach and identification using global search of PSO. The control structure comprises conventional PID controller and an int...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013