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Robustness of Hybrid Learning Acceleration Feedback Control Scheme in Flexible Manipulators
Abstract:This paper describes a practical approach to design and develop a hybrid learning with acceleration feedback control (HLC) scheme for input tracking and end-point vibration suppression of flexible manipulator systems. Initially, a collocated proportionalderivative (PD) control scheme using hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a further hybrid control scheme of the collocated PD control and iterative learning control with acceleration feedback using genetic algorithms (GAs) to optimize the learning parameters. Experimental results of the response of the manipulator with the control schemes are presented in the time and frequency domains. The performance of the HLC is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various payloads.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1072720Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1444
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