FAT-based adaptive and velocity feedback control of cooperative manipulators handling a flexible object

Samewoi, Abdul Rahman and Zainul Azlan, Norsinnira and Khan, Md. Raisuddin (2023) FAT-based adaptive and velocity feedback control of cooperative manipulators handling a flexible object. Automatika, 64 (4). pp. 1010-1025. ISSN 0005-1144 E-ISSN 1848-3380

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Abstract

The previous regressor-based control method to control two cooperative manipulators in handling a deformable object leads to complex calculations and complicated programming in experimental hardware tests. There is an existing lack of studies about the development of the controller based on a partial differential equation (PDE)-based model and considering the model’s uncertainties. Previous studies have shown fewer experimental validations regarding two cooperative manipulators that handle deformable objects under uncertain model parameters. This study proposes a composite controller comprising a function approximation technique (FAT)-based adaptive control (FATAC) for a slow subsystem and a velocity feedback control (VFC) for a fast subsystem. The proposed FATAC is used for trajectory tracking, and VFC is used to suppress the vibration of the deformable object. Lyapunov stability analysis has been carried out to design controllers that stabilize a non-linear system of two cooperative manipulators handling the flexible object. Simulation and hardware experimental tests have been carried out to validate the performance of proposed controllers. The results verified that the proposed composite controller comprising the FATAC has successfully driven the cooperative manipulators to handle the deformable object so that it follows the desired trajectories. The VFC has successfully suppressed the transverse vibration of the deformable object.

Item Type:	Article (Journal)
Uncontrolled Keywords:	Composite control; slow-fast subsystems; flexible beam; function approximation technique
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Md. Raisuddin Khan
Date Deposited:	08 Jan 2025 09:30
Last Modified:	08 Jan 2025 09:30
URI:	http://irep.iium.edu.my/id/eprint/117358

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