Disturbance Rejection nonlinear control of Flexible Joint robot arm
محورهای موضوعی : Electrical EngineeringHadi Hasanpour 1 , Esmaeil Alibeiki 2 , Seyyed Mostafa Ghadami 3
1 - Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul, Iran
2 - Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul, Iran.
3 - Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul ,Iran
کلید واژه: Flexible robot, Nonlinear model, Disturbance rejection.,
چکیده مقاله :
In this article, we investigate different control methods and control input disturbance removal in the two-link flexible robot. For this purpose, we use the linear feedback control method to control the trajectory tracking of the robot's angle with a nonlinear model by reducing the effects of disturbances in the control signal. The main contribiution of this paper is disturbance rejection that effect on performance of robot. In the end, by analyzing and comparing the obtained results, the best method is selected to control and eliminate the control input disturbance in the flexible two-link robot. To analyze the results of this research, MATLAB software and the system simulation are performed and according to the desired trajectory for the robot arms, the optimum control input for the system is obtained. Based on the results, the proposed control structure controls the model property without overshooting and by considering the saturation limit of input control.
In this article, we investigate different control methods and control input disturbance removal in the two-link flexible robot. For this purpose, we use the linear feedback control method to control the trajectory tracking of the robot's angle with a nonlinear model by reducing the effects of disturbances in the control signal. The main contribiution of this paper is disturbance rejection that effect on performance of robot. In the end, by analyzing and comparing the obtained results, the best method is selected to control and eliminate the control input disturbance in the flexible two-link robot. To analyze the results of this research, MATLAB software and the system simulation are performed and according to the desired trajectory for the robot arms, the optimum control input for the system is obtained. Based on the results, the proposed control structure controls the model property without overshooting and by considering the saturation limit of input control.
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