Active vibration control of flexible manipulator using auto disturbance rejection and input shaping

This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair. A hybrid vibration controller is proposed by combining the input shaping technique with auto disturbance rejection controller. The parameters of the closed-loop system can be adjusted to the known values by disturbance compensation and linear feedback using the auto disturbance rejection controller. This way, input shaper can be designed without accurate parameters of the flexible manipulator. Both simulation and experiments are conducted to validate the proposed control algorithm. The results verified the effectiveness of the proposed controller in vibration suppression of flexible manipulator.

• Record URL:
  https://doi.org/10.1177/0954410013505951
• Record URL:
  http://pig.sagepub.com/cgi/content/abstract/228/10/1909
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/19966973
• Supplemental Notes:
  • Reprinted by permission of Sage Publications, Ltd.
• Authors:
  • Luo, Bo
  • Huang, Hai
  • Shan, Jinjun
  • Nishimura, Hidekazu
• Publication Date: 2014-8

Language

• English

Media Info

• Media Type: Digital/other
• Features: Appendices; Figures; References; Tables;
• Pagination: pp 1909-1922
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
  • Volume: 228
  • Issue Number: 10
  • Publisher: Sage Publications, Incorporated
  • ISSN: 0954-4100
  • EISSN: 2041-3025
  • Serial URL: http://pig.sagepub.com/

Subject/Index Terms

• TRT Terms: Actuators; Algorithms; Feedback control; Piezoelectric transducers; Vibration control
• Uncontrolled Terms: Manipulators (Mechanism)
• Subject Areas: Aviation; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01532537
• Record Type: Publication
• Files: TRIS
• Created Date: Jul 31 2014 9:15AM