Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator. (3rd February 2015)

• Record Type: Journal Article
• Authors: Lou, Jun-qiang; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran
• Is Part Of: Smart materials and structures. Volume 24:Number 3(2015:Mar.)
• Publication Date: 2015-02-03
• Subjects: smart flexible manipulator -- hybrid control strategy -- effective multi-mode positive position feedback -- piezoelectric actuator; Smart materials -- Periodicals; Strucural design -- Periodicals; 620.11
• DOI: 10.1088/0964-1726/24/3/035007
• Languages: English
• ISSNs: 0964-1726

Abstract

Abstract: A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s.