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

Bo Luo, Hai Huang, Jinjun Shan, Hidekazu Nishimura

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1909-1922
Number of pages14
JournalProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Volume228
Issue number10
DOIs
Publication statusPublished - 2014

Fingerprint

Flexible manipulators
Disturbance rejection
Vibration control
Controllers
Closed loop systems
Actuators
Feedback
Sensors
Experiments

Keywords

  • auto disturbance rejection controller
  • flexible manipulator
  • input shaping
  • piezoelectric structure
  • Vibration control

ASJC Scopus subject areas

  • Aerospace Engineering
  • Mechanical Engineering

Cite this

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AU - Shan, Jinjun

AU - Nishimura, Hidekazu

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AB - 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.

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