NDLI: Input shaping with collocated PD for vibration control of a flexible joint manipulator

Content Provider	IEEE Xplore Digital Library
Author	Ahmad, M.A. Ramli, M.S. Raja Ismail, R.M.T. Nasir, A.N.K. Zawawi, M.A.
Copyright Year	2009
Description	Author affiliation: Universiti Malaysia Pahang, Lebuhraya Tun Razak, 26300, Kuantan, Pahang, Malaysia (Ahmad, M.A.; Ramli, M.S.; Raja Ismail, R.M.T.; Nasir, A.N.K.; Zawawi, M.A.)
Abstract	This paper presents investigations into the development of collocated PD control for input tracking and vibration suppression of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated PD controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) and new modified specified negative amplitude zero-vibration-derivative-derivative (SNA ZVDD) input shapers are then designed based on the properties of the system for vibration control. The new SNA ZVDD is proposed to improve the robustness capability while increasing the speed of the system response. The responses of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the collocated PD with input shaping control schemes are examined in terms of input tracking capability, level of vibration reduction, time response specifications and robustness to parameters uncertainty. A comparative assessment of the positive ZVDD and modified SNA ZVDD shapers to the hybrid system performance is presented and discussed.
Starting Page	325
Ending Page	330
File Size	321285
Page Count	6
File Format	PDF
ISBN	9781424447060
DOI	10.1109/ICCA.2009.5410429
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-09
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	PD control Vibration control Shape control Position control Control systems Robustness Frequency domain analysis Time factors Robust control Uncertain systems flexible joint manipulator input shaping collocated PD
Content Type	Text
Resource Type	Article

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