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

9 Citations (Scopus)


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
Issue number10
Publication statusPublished - 2014 Aug



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

ASJC Scopus subject areas

  • Aerospace Engineering
  • Mechanical Engineering

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