Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach
الموضوعات : journal of Artificial Intelligence in Electrical Engineering
Foruzan Mehria
1
(Faculty of Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran,)
Ahmad Foruzantabarb
2
(Faculty of Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran,)
الکلمات المفتاحية: Linear Matrix Inequality (LMI), Flexible Link Robot, Input-Shaping control method, Delay system,
ملخص المقالة :
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop control system becomes an input delay system. To control this delay system, a robust linear state feedback with proper gain matrix is designed based-on an LMI method. Finally, the simulation results are illustrated to verify closed loop control system behavior.
