Vibration and position control of a flexible manipulator

Mahmood, Iskandar Al-Thani and Bhikkaji, Bharath and Moheimani, S.O. Reza (2007) Vibration and position control of a flexible manipulator. In: Information Decision and Control (IDC 2007), 12-14 Feb 2007, Adelaide, Australia.

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Abstract

A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using frequency-domain system identification. A polynomial based feedback controller is designed to damp hub angle response. This controller also damps the tip position response. Apart from damping the system, the feedback controller also provides substantial robustness. Finally, an integral controller is also designed to achieve zero-steady state error in the tip position.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	3614/32300
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 > Department of Mechatronics Engineering
Depositing User:	Dr. Iskandar Al-Thani bin Mahmood
Date Deposited:	11 Oct 2013 14:52
Last Modified:	11 Oct 2013 14:52
URI:	http://irep.iium.edu.my/id/eprint/32300

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