Robust P-H∞ Integrated Controller for Flexible Link Manipulator ‎System in the Presence of Disturbance

سال انتشار: 1400
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 155

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شناسه ملی سند علمی:

JR_JACM-7-2_025

تاریخ نمایه سازی: 9 خرداد 1400

چکیده مقاله:

Flexible link manipulators have recently high attention in research due to the numerous advantages over traditional manipulators. However, flexible link manipulators still have critical problem of less position accuracy due to the tip vibration. Thus, this research contributes by developing a robust P-H∞ integrated controller for a flexible link manipulator (FLM). The P-H∞ integrated controller is a combination of Proportional (p ) controller and H∞ controller which helps of possession several advantages such as optimal position tracking, effective vibration repression, and robust to reject disturbances. The proposed P-H∞ integrated controller has been simulated to control the FLM system using MATLAB/Simulink toolbox. The results have demonstrated satisfactory performance of the proposed P-H∞ integrated controller in terms of position tracking, vibration repression, and disturbance rejection.

نویسندگان

Esmail Ali Alandoli

Faculty of Engineering and Technology, Multimedia University, ۷۵۴۵۰ Bukit Beruang, Melaka, Malaysia‎

T. S. Lee

Faculty of Engineering and Technology, Multimedia University, ۷۵۴۵۰ Bukit Beruang, Melaka, Malaysia‎

Chu A. My

Department of Special Robotics and Mechatronics, Le Quy Don Technical University, ۲۳۶ Hoang Quoc Viet, Hanoi, Vietnam

Marwan Qaid Mohammed

Faculty of Engineering and Technology, Multimedia University, ۷۵۴۵۰ Bukit Beruang, Melaka, Malaysia‎

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