Time-Delayed Vibration Control of a Rotating Flexible Manipulator Based on Model Output Prediction Feedback
Publication: Journal of Aerospace Engineering
Volume 29, Issue 4
Abstract
This paper is concerned with vibration control of a single-link flexible beam structure. The proposed beam is controlled by a servo motor through a harmonic gear reducer. After obtaining the models by system identification, a time-delayed optimal controller based on model output prediction and optimal control theory was designed to compensate the unknown time delay in the controlled system. Then, experiments on the proposed control scheme were conducted in a set-point vibration control process. The experimental results demonstrate that the performance of vibration suppression can be improved substantially when applying the proposed method in the presence of time delay compensation, as compared to the traditional proportional and derivative (PD) controller. The accuracy of models was validated according to experimental results, and the factors that influence the output prediction accuracy are analyzed in this paper.
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Acknowledgments
This work was partially supported by the National Natural Science Foundation of China under Grants 51175181, partially supported by the Fundamental Research Funds for the Central Universities, SCUT (2014ZG0019), and in part supported by State Key Laboratory of Robotics Foundation and National Laboratory of Space Intelligent Control. The authors gratefully acknowledge these support agencies.
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Published In
Journal of Aerospace Engineering
Volume 29 • Issue 4 • July 2016
Copyright
© 2015 American Society of Civil Engineers.
History
Received: Jun 24, 2014
Accepted: Sep 30, 2015
Published online: Dec 22, 2015
Discussion open until: May 22, 2016
Published in print: Jul 1, 2016
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