Control by Interconnection and Energy Shaping for Single-link Manipulator with Flexible-link and Flexible-joint
سال انتشار: 1399
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 411
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شناسه ملی سند علمی:
ELEMECHCONF06_027
تاریخ نمایه سازی: 22 آذر 1399
چکیده مقاله:
The control of flexible manipulators has received much attention in the last years. In this paper, we consider a single-link flexible-link flexible -joint manipulator (SFLFJM) to compensate for the motion of tip position and deflection while positioning the end effector at a desired position. For the synthesis of controller, first, the set of configuration variables of the considered SFLFJM in Euler Lagrangian (EL) formulations is transformed into a new set of configuration variables to include the passive collocated or noncollocated output. Then, the obtained new EL formulations are expressed in port-controlled Hamiltonian system with dissipation (PCHD) for tracking error dynamics of tip position and deflection. This paper proposes the application of an energy-based control design methodology so-called interconnection and damping assignment passivity-based control (IDA-PBC), leading to a PCHD closed-loop system, which can be effectively tuned to suppress vibration associated with flexible joint and flexible link. Numerical simulations shows the effectiveness and performance of the proposed controller.
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نویسندگان
Mohammad-Reza Moghanni-Bavil-Olyaei
Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran
Ahmad Ghanbari
School of Engineering Emerging Technologies, University of Tabriz, Tabriz, Iran
Jafar Keighobadi
Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran