Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach

Subject Areas : journal of Artificial Intelligence in Electrical Engineering

Foruzan Mehria ¹ , Ahmad Foruzantabarb ²

1 - Faculty of Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran,
2 - Faculty of Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran,

Received: 2019-12-29 Accepted : 2019-12-29 Published : 2019-12-29

Keywords: Linear Matrix Inequality (LMI), Flexible Link Robot, Input-Shaping control method, Delay system,

Abstract :

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.