Decomposed dynamic control for flexible manipulator in consideration of nonlinearity — Rigid dynamic control

A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control has been investigated for a desired trajectory using an optimization, and the optimization is valid method to deal with nonlinear problems but dependent on the accuracy of models. There are errors in models and other factors causing disturbances inevitably, so that the rigid dynamic control is expected with enough robustness to overcome the uncertain problem. In this paper, the proposed controller does not only track the desired trajectory, but also further suppresses the residual vibration to improve performance of control. A hybrid sliding mode control (HySMC) is proposed to track the desired trajectory and provide a compensator for further vibration suppression. This paper mainly presents the theoretical design and experimental verification of the proposed controller.

[1]  G. Song,et al.  Active Vibration Suppression of a Smart Flexible Beam Using a Sliding Mode Based Controller , 2007 .

[2]  Fuchun Sun,et al.  Neural network control of flexible-link manipulators using sliding mode , 2006, Neurocomputing.

[3]  Miguel Ayala Botto,et al.  Vibration control of a very flexible manipulator system , 2005 .

[4]  Anthony Tzes,et al.  Adaptive input shaping for nonlinear systems: A case study , 2007 .

[5]  N. Olgac,et al.  Tracking control of a rotating flexible beam using modified frequency-shaped sliding mode control , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[6]  Warren P. Seering,et al.  Convolved and simultaneous two-mode input shapers , 1997 .

[7]  Anthony Tzes,et al.  Experimental results on adaptive nonlinear control and input preshaping for multi-link flexible manipulators , 1995, Autom..

[8]  Dong Sun,et al.  Modified input shaping for a rotating single-link flexible manipulator , 2005 .

[9]  Akira Abe,et al.  Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation , 2009 .

[10]  Mouhacine Benosman,et al.  Control of flexible manipulators: A survey , 2004, Robotica.

[11]  Yukinori Kobayashi,et al.  Decomposed dynamic control for flexible manipulator in consideration of nonlinearity — Rigid dynamic control , 2010 .

[12]  Yukinori Kobayashi,et al.  Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System , 2009, J. Robotics Mechatronics.

[13]  Tian-Shiang Yang,et al.  Suppression of nonlinear forced waves by input shaping , 2003 .

[14]  Lucy Y. Pao Multi-input shaping design for vibration reduction , 1999, Autom..

[15]  T. Tsuji,et al.  Terminal sliding mode control of second‐order nonlinear uncertain systems , 1999 .

[16]  Leonardo Lanari,et al.  Rest-to-Rest Motion for Planar Multi-Link Flexible Manipulator Through Backward Recursion , 2004 .

[17]  Qinglei Hu,et al.  Variable structure control and active vibration suppression of flexible spacecraft during attitude maneuver , 2005 .

[18]  Dongbin Zhao,et al.  Design of a stable sliding-mode controller for a class of second-order underactuated systems , 2004 .

[19]  Jeffrey C. Lagarias,et al.  Convergence Properties of the Nelder-Mead Simplex Method in Low Dimensions , 1998, SIAM J. Optim..

[20]  Sahjendra N. Singh,et al.  Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping , 1986 .

[21]  David G. Wilson,et al.  Augmented Sliding Mode Control for Flexible Link Manipulators , 2002, J. Intell. Robotic Syst..

[22]  Youn-Sik Park,et al.  Fourier-based optimal design of a flexible manipulator path to reduce residual vibration of the endpoint , 1993, Robotica.

[23]  Pyung Hun Chang,et al.  Time-varying input shaping technique applied to vibration reduction of an industrial robot , 2005 .

[24]  Metin U. Salamci,et al.  Active vibration suppression of a flexible structure using sliding mode control , 2006 .

[25]  Dong-Soo Kwon,et al.  A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator , 1994 .

[26]  Qinglei Hu,et al.  Input shaping and variable structure control for simultaneous precision positioning and vibration reduction of flexible spacecraft with saturation compensation , 2008 .

[27]  Yukinori Kobayashi,et al.  3B17 Modeling and Vibration Analysis of Flexible Robot Arm under Fast Motion in Consideration of Nonlinearity , 2010 .

[28]  Warren P. Seering,et al.  Preshaping Command Inputs to Reduce System Vibration , 1990 .