TY - JOUR
T1 - Active vibration control of flexible manipulator using auto disturbance rejection and input shaping
AU - Luo, Bo
AU - Huang, Hai
AU - Shan, Jinjun
AU - Nishimura, Hidekazu
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2014/8
Y1 - 2014/8
N2 - 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.
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.
KW - Vibration control
KW - auto disturbance rejection controller
KW - flexible manipulator
KW - input shaping
KW - piezoelectric structure
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U2 - 10.1177/0954410013505951
DO - 10.1177/0954410013505951
M3 - Article
AN - SCOPUS:84904173214
SN - 0954-4100
VL - 228
SP - 1909
EP - 1922
JO - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
IS - 10
ER -