SDRE APPLIED TO POSITION AND VIBRATION CONTROL OF A ROBOT MANIPULATOR WITH A FLEXIBLE LINK

被引：10

作者：

de Lima, Jeferson Jose ^{[1
]}

Tusset, Angelo Marcelo ^{[1
]}

Janzen, Frederic Conrad ^{[1
]}

Piccirillo, Vincius ^{[1
]}

Nascimento, Claudinor Bitencourt ^{[1
]}

Balthazar, Jose Manoel ^{[2
]}

Rebello da Fonseca Brasil, Reyolando Manoel Lopes ^{[3
]}

机构：

[1] UTFPR, Ponta Grossa, PR, Brazil

[2] UNESP, Bauru, SP, Brazil

[3] Univ Fed Abc, Santo Andre, SP, Brazil

来源：

JOURNAL OF THEORETICAL AND APPLIED MECHANICS | 2016年 / 54卷 / 04期

关键词：

SDRE control; flexible robotic arm; SMA; active vibration control; RICCATI EQUATION; STATE; SYSTEMS; ENERGY; CHAOS; MODEL;

D O I：

10.15632/jtam-p1.54.4.1067

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

This paper presents position and vibration control of a flexible robot composed of two rigid and one flexible links. Position is controlled by the current applied to the DC motor armature. To control vibrations of the flexible structure, Shape Memory Alloys (SMA) are used. Due to phase transformations, the SMA can change its stiffness through temperature variation, considering and taking advantage of this characteristic the vibration control is done. Control is achieved via the State Dependent Ricatti Equations (SDRE) technique, which uses suboptimal control and system local stability search. The simulation results show the feasibility of the proposed control for the considered system.

引用

页码：1067 / 1078

页数：12

共 50 条

[1] Vibration Control of Flexible Link Manipulator Using SDRE Controller and Kalman Filtering
Reddy, Mule Pala Prasad
Jacob, Jeevamma
[J]. STUDIES IN INFORMATICS AND CONTROL, 2017, 26 (02): : 143 - 150
[2] Position and vibration control of a flexible robot manipulator using hybrid controller
Park, HW
Yang, HS
Park, YP
Kim, SH
[J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 1999, 28 (01) : 31 - 41
[3] Position and vibration control of a flexible robot manipulator using fuzzy logic
Park, HW
Yang, HS
Park, YP
Kim, SH
[J]. FUZZY LOGIC AND INTELLIGENT TECHNOLOGIES FOR NUCLEAR SCIENCE AND INDUSTRY, 1998, : 302 - 309
[4] Vibration and position control of a flexible manipulator
Mahmood, I. A.
Bhikkaji, B.
Moheimani, S. O. R.
[J]. 2007 INFORMATION DECISION AND CONTROL, 2007, : 277 - +
[5] SDRE Control of Flexible Beam Manipulator
Shihabudheen, K., V
Thankachan, Jose
Vasista, Chinmay
[J]. 2015 INTERNATIONAL CONFERENCE ON SOFT COMPUTING TECHNIQUES AND IMPLEMENTATIONS (ICSCTI), 2015,
[6] Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning
Sasaki, Minoru
Muguro, Joseph
Kitano, Fumiya
Njeri, Waweru
Maeno, Daiki
Matsushita, Kojiro
[J]. MACHINES, 2023, 11 (07)
[7] Simultaneous control of position and vibration of flexible link manipulator by nature-inspired algorithms
Singh, Vijay Kumar
Ohri, Jyoti
[J]. 2018 IEEE 8TH POWER INDIA INTERNATIONAL CONFERENCE (PIICON), 2018,
[8] POSITION CONTROL OF SINGLE LINK UNDERWATER ROBOT MANIPULATOR
Shukor, Ahmad Zaki Hj
Miskon, Muhammad Fahmi
Ibrahim, Fariz Ali
Nor, Muhammad Khairi Md
[J]. JURNAL TEKNOLOGI, 2015, 74 (09): : 169 - 173
[9] Vibration Control of a Two-Link Flexible Manipulator
Belherazem, A.
Salim, R.
Laidani, A.
Chenafa, M.
[J]. AUTOMATIC CONTROL AND COMPUTER SCIENCES, 2024, 58 (03) : 346 - 358
[10] Vibration control of a two-link flexible manipulator
Karagulle, H.
Malgaca, L.
Dirilmis, M.
Akdag, M.
Yavuz, S.
[J]. JOURNAL OF VIBRATION AND CONTROL, 2017, 23 (12) : 2023 - 2034

← 1 2 3 4 5 →