TY - CHAP
T1 - Adaptive controller design for two-link flexible manipulator
AU - Mahamood, Rasheedat Modupe
PY - 2013/9/12
Y1 - 2013/9/12
N2 - Flexible Link Manipulator Systems (FLMs) have numerous advantages when compared to the rigid link manipulator such as their light weight, ease of manipulation, low energy consumption, faster manipulation and so on. Controlling such system poses many difficulties due to the distributed nature of the system. In this chapter, direct adaptive control is designed based on a hybrid Proportional Integral Derivative (PID) control system for two-link flexible manipulator. The adaptive control algorithm is simple with less computational load and also very efficient. The control law is tested in Matlab/Simulink environment. The effectiveness of the proposed controller is studied with step input signal and square wave input signal, white noise disturbance, and sine wave disturbance. The results show that the proposed adaptive control law is effective and robust to the disturbances. The results are presented and discussed in detail.
AB - Flexible Link Manipulator Systems (FLMs) have numerous advantages when compared to the rigid link manipulator such as their light weight, ease of manipulation, low energy consumption, faster manipulation and so on. Controlling such system poses many difficulties due to the distributed nature of the system. In this chapter, direct adaptive control is designed based on a hybrid Proportional Integral Derivative (PID) control system for two-link flexible manipulator. The adaptive control algorithm is simple with less computational load and also very efficient. The control law is tested in Matlab/Simulink environment. The effectiveness of the proposed controller is studied with step input signal and square wave input signal, white noise disturbance, and sine wave disturbance. The results show that the proposed adaptive control law is effective and robust to the disturbances. The results are presented and discussed in detail.
KW - Adaptive control
KW - Flexible link manipulator
KW - Performance index
KW - PID control
KW - Sine wave disturbance
KW - White noise disturbance
UR - http://www.scopus.com/inward/record.url?scp=84958524604&partnerID=8YFLogxK
U2 - 10.1007/978-94-007-6818-5_9
DO - 10.1007/978-94-007-6818-5_9
M3 - Chapter
AN - SCOPUS:84958524604
SN - 9789400768178
SN - 9789402401554
T3 - Lecture Notes in Electrical Engineering
SP - 115
EP - 128
BT - IAENG Transactions on Engineering Technologies
PB - Springer
CY - Dordrecht, Netherlands
T2 - World Congress on Engineering and Computer Science, WCECS 2012
Y2 - 24 October 2012 through 26 October 2012
ER -