Active vibration control of flexible manipulator using auto disturbance rejection and input shaping. (August 2014)

• Record Type: Journal Article
• Authors: Luo, Bo; Huang, Hai; Shan, Jinjun; Nishimura, Hidekazu
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 228:Number 10(2014:Oct.)
• Page Start: 1909
• Page End: 1922
• Publication Date: 2014-08
• Subjects: Vibration control -- flexible manipulator -- input shaping -- auto disturbance rejection controller -- piezoelectric structure; Aeronautics -- Periodicals; Astronautics -- Periodicals; Airplanes -- Design and construction -- Periodicals; Aerospace industries -- Periodicals; 629.1
• DOI: 10.1177/0954410013505951
• Languages: English
• ISSNs: 0954-4100

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.