Active vibration control of flexible manipulator using auto disturbance rejection and input shaping

Bo Luo; Hai Huang; Jinjun Shan; Hidekazu Nishimura

doi:10.1177/0954410013505951

Active vibration control of flexible manipulator using auto disturbance rejection and input shaping

Bo Luo, Hai Huang, Jinjun Shan, Hidekazu Nishimura

Graduate School of System Design and Management

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair. A hybrid vibration controller is proposed by combining the input shaping technique with auto disturbance rejection controller. The parameters of the closed-loop system can be adjusted to the known values by disturbance compensation and linear feedback using the auto disturbance rejection controller. This way, input shaper can be designed without accurate parameters of the flexible manipulator. Both simulation and experiments are conducted to validate the proposed control algorithm. The results verified the effectiveness of the proposed controller in vibration suppression of flexible manipulator.

Original language	English
Pages (from-to)	1909-1922
Number of pages	14
Journal	Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Volume	228
Issue number	10
DOIs	https://doi.org/10.1177/0954410013505951
Publication status	Published - 2014 Aug

Keywords

Vibration control
auto disturbance rejection controller
flexible manipulator
input shaping
piezoelectric structure

ASJC Scopus subject areas

Aerospace Engineering
Mechanical Engineering

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10.1177/0954410013505951

Cite this

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title = "Active vibration control of flexible manipulator using auto disturbance rejection and input shaping",

abstract = "This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair. A hybrid vibration controller is proposed by combining the input shaping technique with auto disturbance rejection controller. The parameters of the closed-loop system can be adjusted to the known values by disturbance compensation and linear feedback using the auto disturbance rejection controller. This way, input shaper can be designed without accurate parameters of the flexible manipulator. Both simulation and experiments are conducted to validate the proposed control algorithm. The results verified the effectiveness of the proposed controller in vibration suppression of flexible manipulator.",

keywords = "Vibration control, auto disturbance rejection controller, flexible manipulator, input shaping, piezoelectric structure",

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AU - Luo, Bo

AU - Huang, Hai

AU - Shan, Jinjun

AU - Nishimura, Hidekazu

PY - 2014/8

Y1 - 2014/8

N2 - This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair. A hybrid vibration controller is proposed by combining the input shaping technique with auto disturbance rejection controller. The parameters of the closed-loop system can be adjusted to the known values by disturbance compensation and linear feedback using the auto disturbance rejection controller. This way, input shaper can be designed without accurate parameters of the flexible manipulator. Both simulation and experiments are conducted to validate the proposed control algorithm. The results verified the effectiveness of the proposed controller in vibration suppression of flexible manipulator.

AB - This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair. A hybrid vibration controller is proposed by combining the input shaping technique with auto disturbance rejection controller. The parameters of the closed-loop system can be adjusted to the known values by disturbance compensation and linear feedback using the auto disturbance rejection controller. This way, input shaper can be designed without accurate parameters of the flexible manipulator. Both simulation and experiments are conducted to validate the proposed control algorithm. The results verified the effectiveness of the proposed controller in vibration suppression of flexible manipulator.

KW - Vibration control

KW - auto disturbance rejection controller

KW - flexible manipulator

KW - input shaping

KW - piezoelectric structure

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Active vibration control of flexible manipulator using auto disturbance rejection and input shaping

Abstract

Keywords

ASJC Scopus subject areas

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