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

Bo Luo, Hai Huang, Jinjun Shan, Hidekazu Nishimura

研究成果: Article査読

11 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1909-1922
ページ数14
ジャーナルProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
228
10
DOI
出版ステータスPublished - 2014 8月

ASJC Scopus subject areas

  • 航空宇宙工学
  • 機械工学

フィンガープリント

「Active vibration control of flexible manipulator using auto disturbance rejection and input shaping」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル