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Hybrid Controller for a Single Flexible Link Manipulator | ||
| Journal of Engineering | ||
| Article 1, Volume 18, Issue 11, 2012, Pages 1242-1254 | ||
| Authors | ||
| Waladin K. Sa; Bahaa I. Kazem; a M. Manaty; | ||
| Abstract | ||
| In this study, the dynamic modeling and step input tracking control of single flexible link is studied. The Lagrange-assumed modes approach is applied to get the dynamic model of a planner single link manipulator. A Step input tracking controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. The first controller is a modified version of the proportional-derivative (PD) rigid controller to track the hub position while sliding mode (SM) control is used for vibration damping. Also, a second controller (a fuzzy logic based proportional-integral plus derivative (PI+D) control scheme) is developed for both vibration damping and hub position tracking. A comparison is made between the performances of these two controllers. The Hybrid controller with PD and SM shows better tracking behavior than obtained from the suggested fuzzy (PI+D)2 controller for a single link flexible manipulator. | ||
| Keywords | ||
| Flexible Link; Single Link; Hybrid Control; Fuzzy Control | ||
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