Vibration suppression of a flexible manipulator using self-tuning optimal control and LIPCA

Van Phuoc Phan; Nam Seo Goo; Hoon Cheol Park

doi:10.1117/12.775763

19 April 2008 Vibration suppression of a flexible manipulator using self-tuning optimal control and LIPCA

Van Phuoc Phan, Nam Seo Goo, Hoon Cheol Park

Proceedings Volume 6928, Active and Passive Smart Structures and Integrated Systems 2008; 69282C (2008) https://doi.org/10.1117/12.775763
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2008, San Diego, California, United States

Abstract

Nowadays active vibration suppression of flexible manipulators is important in many engineering applications, such as robot manipulators and high-speed flexible mechanisms. The demand for short settling time and low energy consumption of the vibration suppression has necessitated the consideration to optimal control. For a wide range of operating conditions, the fixed optimal parameters determined for a control algorithm might not produce the highest performance. Hence, a self-tuning optimal control method for a flexible manipulator should be used to enhance the performance. This method can tune itself to the optimal parameters on the basis of the initial maximum responses of the controlled system. In this study, the multi-objective genetic algorithm is used to search for optimal parameters with regard to positive position feedback, thereby minimizing the settling time and energy consumption multi-objective functions. The experimental results reveal that the energy consumption can be reduced significantly while the settling time is still slightly increased.

Citation Download Citation

Van Phuoc Phan, Nam Seo Goo, and Hoon Cheol Park "Vibration suppression of a flexible manipulator using self-tuning optimal control and LIPCA", Proc. SPIE 6928, Active and Passive Smart Structures and Integrated Systems 2008, 69282C (19 April 2008); https://doi.org/10.1117/12.775763

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