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Collocated and non-collocated control of flexible manipulators

Collocated and non-collocated control of flexible manipulators

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This chapter presents the development of closed-loop control strategies for flexible manipulator systems based on collocated and non-collocated control. A closed-loop control strategy using hub-angle and hub-velocity feedback for rigid-body motion control and end-point acceleration feedback forflexural motion control is considered. This is then extended to an adaptive collocated and non-collocated control mechanism using online modelling and controller design. Proportional, integral, derivative (PID) type as well as inverse-model control techniques are considered for flexural motion control. The non-minimum phase behaviour of the plant in the latter case is addressed through conventional techniques. This is further addressed through development of an adaptive neuro-inverse model strategy. The control strategies thus developed are verified and their performances assessed through simulated and experimental exercises.

Inspec keywords: control system synthesis; feedback; three-term control; closed loop systems; motion control; flexible manipulators

Other keywords: adaptive neuroinverse model strategy; hub-velocity feedback; end-point acceleration feedback forflexural motion control; controller design; inverse-model control techniques; rigid-body motion control; flexible manipulator systems; hub-angle feedback; noncollocated control; proportional-integral-derivative type; closed-loop control strategies

Subjects: Manipulators

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