DocumentCode :
1807380
Title :
Hybrid PD/PID controller design for two-link flexible manipulators
Author :
Mahamood, Rasheedat M. ; Pedro, Jimoh O.
Author_Institution :
Sch. of Mech., Ind. & Aeronaut., Eng., Univ. of the Witwatersrand, Johannesburg, South Africa
fYear :
2011
fDate :
15-18 May 2011
Firstpage :
1358
Lastpage :
1363
Abstract :
This paper investigates the development of a hybrid collocated PD and non-collocated PID controller designed for input tracking and vibration control of two-link flexible manipulator. The two-link robot manipulator was modelled using Lagrange and assumed mode method. The PD controller is used for motion tracking and the PID for vibration control. Effect of changing controller gains on performance is studied using two case studies. Also studied is the effect of payload variation on the performance of the proposed controller. The performance of the designed controllers is evaluated in terms of input tracking capability, energy utilization, deflection suppression and vibration control. Results show that a simple PD-PID controller can be effectively designed for point-to-point motion control and vibration suppression for two link flexible manipulators. Also the study reveals that the controller is robust to payload variation.
Keywords :
PD control; control system synthesis; flexible manipulators; motion control; three-term control; vibration control; Lagrange method; assumed mode method; deflection suppression; energy utilization; hybrid PD-PID controller design; input tracking capability; point-to-point motion control; two-link flexible manipulator; two-link flexible manipulators; vibration control; vibration suppression; Acceleration; Joints; Manipulators; Mathematical model; PD control; Payloads; Tuning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ASCC), 2011 8th Asian
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-61284-487-9
Electronic_ISBN :
978-89-956056-4-6
Type :
conf
Filename :
5899270
Link To Document :
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