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

journal of Artificial Intelligence in Electrical Engineering

مقاله 3، دوره 8، شماره 29، شهریور 2019، صفحه 41-52   

نوع مقاله: Original Article

نویسندگان

Foruzan Mehria؛ Ahmad Foruzantabarb

Faculty of Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran,

چکیده

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.

کلیدواژه‌ها

Flexible link robot؛ Input-Shaping control method؛ Linear Matrix Inequality (LMI)؛ Delay system