TY - GEN
T1 - Hybrid PD/PID controller design for two-link flexible manipulators
AU - Mahamood, Rasheedat M.
AU - Pedro, Jimoh O.
PY - 2011/6/20
Y1 - 2011/6/20
N2 - This paper investigates the development of a hybrid collocated PD and non-collocated PID controller designed for input tracking and vibration control of two-link flexible manipulator. The two-link robot manipulator was modelled using Lagrange and assumed mode method. The PD controller is used for motion tracking and the PID for vibration control. Effect of changing controller gains on performance is studied using two case studies. Also studied is the effect of payload variation on the performance of the proposed controller. The performance of the designed controllers is evaluated in terms of input tracking capability, energy utilization, deflection suppression and vibration control. Results show that a simple PD-PID controller can be effectively designed for point-to-point motion control and vibration suppression for two link flexible manipulators. Also the study reveals that the controller is robust to payload variation.
AB - This paper investigates the development of a hybrid collocated PD and non-collocated PID controller designed for input tracking and vibration control of two-link flexible manipulator. The two-link robot manipulator was modelled using Lagrange and assumed mode method. The PD controller is used for motion tracking and the PID for vibration control. Effect of changing controller gains on performance is studied using two case studies. Also studied is the effect of payload variation on the performance of the proposed controller. The performance of the designed controllers is evaluated in terms of input tracking capability, energy utilization, deflection suppression and vibration control. Results show that a simple PD-PID controller can be effectively designed for point-to-point motion control and vibration suppression for two link flexible manipulators. Also the study reveals that the controller is robust to payload variation.
UR - http://www.scopus.com/inward/record.url?scp=80052008169&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80052008169
SN - 9788995605646
T3 - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
SP - 1358
EP - 1363
BT - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
T2 - 8th Asian Control Conference, ASCC 2011
Y2 - 15 May 2011 through 18 May 2011
ER -