Collocated and non-collocated control

Collocated and non-collocated control

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This chapter presents closed-loop collocated and non-collocated control approaches for flexible manipulator systems. A closed-loop control strategy using hub angle and hub velocity feedback for rigid-body motion control and end-point acceleration feedback for flexural motion control is considered. This is then extended to an adaptive collocated non-collocated control mechanism using on-line modelling and controller design. 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. Case studies demonstrating and assessing the performances of the control approaches are presented through simulated and experimental exercises.

Chapter Contents:

  • 9.1 Introduction
  • 9.2 Joint-based collocated control
  • 9.2.1 Case study 9.1: simulation exercise
  • 9.2.2 Case study 9.2: experimental exercise
  • 9.3 Collocated and non-collocated feedback control with PD and PID
  • 9.3.1 Case study 9.3: simulation exercises
  • 9.4 Adaptive joint-based collocated control
  • 9.4.1 Case study 9.4: simulation exercises
  • 9.4.2 Case study 9.5: experimental exercises
  • 9.5 Adaptive collocated and non-collocated control
  • 9.5.1 Case study 9.6: simulation exercises
  • 9.5.2 Case study 9.7: experimental exercises
  • 9.6 Collocated and non-collocated feedback control with PD and neuro-inverse-model
  • 9.6.1 Case study 9.8: simulation exercises
  • 9.7 Summary

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

Other keywords: adaptive collocated noncollocated control mechanism; PID-type; nonminimum phase behaviour; online modelling; end-point acceleration feedback; hub velocity feedback; rigid-body motion control; closed-loop noncollocated control approaches; flexible manipulator systems; closed-loop collocated control approaches; adaptive neuro-inverse model strategy; flexural motion control; controller design; inverse-model control techniques; hub angle

Subjects: Self-adjusting control systems; Simulation, modelling and identification; Control system analysis and synthesis methods; Spatial variables control; Manipulators

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