The Experts below are selected from a list of 142023 Experts worldwide ranked by ideXlab platform
Zafer Bingul - One of the best experts on this subject based on the ideXlab platform.
-
intelligent proportional integral ipi control of a Single Link flexible joint manipulator
Journal of Vibration and Control, 2015Co-Authors: John T Agee, Selcuk Kizir, Zafer BingulAbstract:This paper presents the design, stability analysis and experimental validation of a computationally non-intensive, model-free, intelligent proportional-integral (iPI) controller for flexible joint ...
-
cascade fuzzy logic control of a Single Link flexible joint manipulator
Turkish Journal of Electrical Engineering and Computer Sciences, 2012Co-Authors: Ismail H Akyuz, Zafer Bingul, Selcuk KizirAbstract:This paper presents the design and control of a Single-Link flexible-joint robot manipulator. A cascade fuzzy logic controller (FLC) was used to remove Link vibrations and to obtain fast trajectory tracking performance. The cascade FLC structure includes 3 different FLCs. The input variables of the first and the second FLCs are the motor rotation angle error, its derivative, and the end-point deflection error its derivative, respectively. The outputs of these controllers are the inputs of the third FLC, which yields the control signal to the flexible robot arm. All of the FLCs were embedded in a DS1103 real-time control board. Several experiments were conducted to verify the controller performance. In the step-response experiments, the error of motor rotation angle was obtained as less than 0.12 ◦ and there was no steady-state error in the end-point deflection. In trajectory tracking experiments with the same FLC structure, small errors and phase shifts in the system variables occurred. Model parameters of the flexible arm such as Link length and spring stiffness were changed to test the robustness of the FLC. It was seen that the FLCs were very robust to internal and external disturbances. Considering the results of the experiments, the proposed FLC structure shows efficient control performance in flexible robot arms.
-
pid and state feedback control of a Single Link flexible joint robot manipulator
International Conference on Mechatronics, 2011Co-Authors: Ismail H Akyuz, Ersin Yolacan, Metin H Ertunc, Zafer BingulAbstract:In this work, a Single - Link flexible joint robot manipulator is constructed and controlled using various control techniques. The position and trajectory control is performed by PH) and State Feedback control methods for this system. The purpose of this study is to keep the rotate angle of the Link at desired position and to eliminate the oscillation angle of end effectors. The experimental results were compared for each method. The control blocks required for the system are performed on Matlab - SIMULink and applied dSpace 1103 control board. The experimental results of the system based on Pro and State Feedback controller are quite satisfactory.
M O Tokhi - One of the best experts on this subject based on the ideXlab platform.
-
pid based control of a Single Link flexible manipulator in vertical motion with genetic optimisation
European Symposium on Computer Modeling and Simulation, 2009Co-Authors: Badrul Aisham Md Zain, M O Tokhi, Siti Fauziah TohaAbstract:This paper presents an investigation into dynamic simulation and controller optimization based on genetic algorithms (GAs) for a Single-Link flexible manipulator system in vertical plane motion. The dynamic model of the system is derived using the Lagrange equation and discretised using the finite difference (FD) method. GA optimization is used to optimize the parameters of the proportional-integral-derivative (PID) based controllers for control of rigid-body and flexible motion dynamics of the system. The important point is to evaluate the range of PID parameter which used in the GAs programmed to find the best value of this parameter. Comparative performance assessment of the control approaches are presented and discussed in the time and the frequency domains.
-
hybrid fuzzy logic control with genetic optimisation for a Single Link flexible manipulator
Engineering Applications of Artificial Intelligence, 2008Co-Authors: M S Alam, M O TokhiAbstract:To reduce the end-point vibration of a Single-Link flexible manipulator without sacrificing its speed of response is a very challenging problem since the faster the motion, the larger the level of vibration. A conventional controller can hardly meet these two conflicting objectives simultaneously. This paper presents a genetic algorithm (GA)-based hybrid fuzzy logic control strategy to achieve that goal. A proportional-derivative (PD) type fuzzy logic controller utilising hub-angle error and hub-velocity feedback is designed for input tracking of the system. GA is used to extract and optimise the rule base of the fuzzy logic controller. The GA fitness function is formed by taking the weighted sum of multiple objectives to trade off between system overshoot and rise time. Moreover, scaling factors of the fuzzy controller are tuned with GA to improve its performance. A GA-based multi-modal command shaper is then designed and augmented with the fuzzy logic controller to reduce the end-point vibration of the system. The performance of the hybrid control scheme is assessed in terms of its input-tracking capability and vibration suppression at the end point. A significant amount of vibration reduction has been achieved at the end point, especially at the first three resonance modes of the rig structure, with satisfactory level of overshoot, rise time, settling time, and steady-state error.
-
designing feedforward command shapers with multi objective genetic optimisation for vibration control of a Single Link flexible manipulator
Engineering Applications of Artificial Intelligence, 2008Co-Authors: M S Alam, M O TokhiAbstract:This paper presents investigations into the design of a command-shaping technique using multi-objective genetic optimisation process for vibration control of a Single-Link flexible manipulator. Conventional design of a command shaper requires a priori knowledge of natural frequencies and associated damping ratios of the system, which may not be available for complex flexible systems. Moreover, command shaping in principle causes delay in system's response while it reduces system vibration and in this manner the amount of vibration reduction and the rise time conflict one another. Furthermore, system performance objectives, such as, reduced overshoot, rise time, settling time, and end-point vibration are found in conflict with one another due to the construction and mode of operation of a flexible manipulator. Conventional methods can hardly provide a solution, for a designer-oriented formulation, satisfying several objectives and associated goals as demanded by a practical application due to the competing nature of those objectives. In such cases, multi-objective optimisation can provide a wide range of solutions, which trade-off these conflicting objectives so as to satisfy associated goals. A multi-modal command shaper consists of impulses of different amplitudes at different time locations, which are convolved with one another and then with the desired reference and then used as reference (for closed loop) or applied to system (for open loop) with the view to reduce vibration of the system, mainly at dominant modes. Multi-objective optimisation technique is used to determine a set of solutions for the amplitudes and corresponding time locations of impulses of a multi-modal command shaper. The effectiveness of the proposed technique is assessed both in the time domain and the frequency domain. Moreover, a comparative assessment of the performance of the technique with the system response with unshaped bang-bang input is presented.
-
vibration control of a Single Link flexible manipulator using command shaping techniques
Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 2002Co-Authors: Z Mohamed, M O TokhiAbstract:AbstractThis paper presents experimental investigations into the development of feed-forward control strategies for vibration control of a flexible manipulator using command shaping techniques based on input shaping and low-pass and band-stop filtering. A laboratory-scale Single-Link flexible manipulator is used and various system responses are obtained. Initially, an unshaped bang-bang torque input is used to determine the dynamic response parameters of the system for design and evaluation of the control techniques. Feed-forward controllers are then designed based on the natural frequencies and damping ratios of the system. Experimental results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the techniques are assessed in terms of level of vibration reduction at the natural frequencies, time response specifications, robustness to natural frequency variation and processing time. The effects of the number of impulses and filt...
-
dynamic modelling of a Single Link flexible manipulator parametric and non parametric approaches
Robotica, 2002Co-Authors: M H Shaheed, M O TokhiAbstract:This paper presents an investigation into the development of parametric and non-parametric approaches for dynamic modelling of a flexible manipulator system. The least mean squares, recursive least squares and genetic algorithms are used to obtain linear parametric models of the system. Moreover, non-parametric models of the system are developed using a non-linear AutoRegressive process with eXogeneous input model structure with multi-layered perceptron and radial basis function neural networks. The system is in each case modelled from the input torque to hub-angle, hub-velocity and end-point acceleration outputs. The models are validated using several validation tests. Finally, a comparative assessment of the approaches used is presented and discussed in terms of accuracy, efficiency and estimation of the vibration modes of the system.
Yuanchih Chen - One of the best experts on this subject based on the ideXlab platform.
-
adaptive sliding control for Single Link flexible joint robot with mismatched uncertainties
IEEE Transactions on Control Systems and Technology, 2004Co-Authors: Anchyau Huang, Yuanchih ChenAbstract:An adaptive sliding controller is proposed for a Single-Link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of orthonormal basis functions. Adaptive laws can thus be derived based on the Lyapunov-like design. Experiment results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded.
Guanrong Chen - One of the best experts on this subject based on the ideXlab platform.
-
analytic closed form solutions for suboptimal trajectory planning of Single Link flexible joint robot arms
International Conference on Robotics and Automation, 1992Co-Authors: Guanrong ChenAbstract:A suboptimal trajectory planning problem for Single-Link flexible-joint robot arms is studied. A global feedback-linearization technique is first applied to reformulate the nonlinear constrained optimization as a suboptimal interpolation problem. Then the unique analytic suboptimal solution for the problem is obtained in closed form. Simulation results are given to show the effectiveness of the method. >
Baozhu Guo - One of the best experts on this subject based on the ideXlab platform.
-
shear force feedback control of a Single Link flexible robot with a revolute joint
IEEE Transactions on Automatic Control, 1997Co-Authors: Zhenghua Luo, Baozhu GuoAbstract:In this paper we present a shear force feedback control method for a Single-Link flexible robot arm with a revolute joint for which it has been shown that direct bending strain feedback can suppress its vibration. Our primary concern is the stability analysis of the closed-loop equation which has not appeared in the literature. We show the existence of a unique solution and the exponential stability of this solution by doing spectral analysis and estimating the norm of the resolvent operator associated with this equation. Some experiments are also conducted to verify these theoretical developments.
