Vibrations and Intelligent Tracking Control of Single Link Flexible Manipulator

Residual vibrations and oscillations at the Endpoint due to flexible body motions are big challenges in control of single link flexible manipulators. This makes payloads positioning very difficult and hence less efficient and low productivity. In this paper, a hybrid intelligent control of single li...

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Bibliographic Details
Published in:Sensors & transducers 2019-04, Vol.232 (4), p.8-14
Main Authors: Tahir, Nura Musa, Abubakar, Kamal Abubakar, Sambo, Aliyu Umar, Kunya, Abdullahi Bala, Gambo, Ibrahim
Format: Article
Language:English
Subjects:
Alliances
Controllers
Design
Engineering
Flexible bodies
Flexible manipulators
Fuzzy control
Fuzzy logic
Fuzzy sets
Fuzzy systems
Genetic algorithms
Hybrid systems
Linear quadratic regulator
Payloads
Robot arms
Robots
Sensors
Time response
Tracking control
Vibration
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Summary:Residual vibrations and oscillations at the Endpoint due to flexible body motions are big challenges in control of single link flexible manipulators. This makes payloads positioning very difficult and hence less efficient and low productivity. In this paper, a hybrid intelligent control of single link flexible manipulator is proposed. Output-based filter (OBF) was designed using the signal output of the system to suppress the tip deflections and it was incorporated with both linear quadratic regulator (LQR) controller and fuzzy logic controller for set point tracking control of the system. Based on the Simulation results, it was observed that, good tracking and significant tip deflections reduction were achieved. This was measured using the time response analysis. OBF-LQR performed better and is more compatible then OBF-fuzzy.
ISSN:2306-8515
1726-5479