HUB ANGLE REGULATION AND ENDEFFECTER VIBRATION CONTROL OFSINGLE LINK FLEXIBLEMANIPULATOR

[摘要] Accurate trajectory regulation of flexible link manipulators is a challenging task. In the present work, a single link flexible manipulator with attached piezoelectric patches has been considered for the study. Model free controllers like Proportional-Integral-Derivative (PID) type of compensators provide better hub angle regulation as compared with H∞ optimization based controllers. However, the tip (end - effecter) vibrations can be better compensated using the later. PID controller has been applied for hub angle regulation and H∞ controller is applied at the piezoelectric actuator to reduce the tip vibrations. Different robust control algorithms have been applied. A comparative performance study of the closed loop system showing the relative merits and demerits of each control technique is presented.

[关键词] Flexible link manipulator;H∞ controller;μ-synthesis controller;H∞ loop shaping controller