Hybrid iterative learning control of a flexible manipulator
This paper presents an investigation into the development of a hybrid control scheme with iterative learning for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the system is derived using the finite element method. Initially, a collocated pr...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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2004
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| Subjects: | |
| Online Access: | http://eprints.utm.my/517/ http://eprints.utm.my/517/1/zarhamdy_IASTED2004.pdf |
| _version_ | 1848889939375161344 |
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| author | Zain, M Z M Tokhi, M O Mohamed, Z Mailah, M |
| author_facet | Zain, M Z M Tokhi, M O Mohamed, Z Mailah, M |
| author_sort | Zain, M Z M |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | This paper presents an investigation into the development of a hybrid control scheme with iterative learning for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller using hub angle and hub velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a non-collocated proportional-integral-derivative (PID) controller with iterative learning for control of vibration of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed PD-PID control scheme. The effectiveness of the control scheme in handling various payloads is also studied. |
| first_indexed | 2025-11-15T20:34:08Z |
| format | Article |
| id | utm-517 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:34:08Z |
| publishDate | 2004 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-5172010-06-01T02:45:24Z http://eprints.utm.my/517/ Hybrid iterative learning control of a flexible manipulator Zain, M Z M Tokhi, M O Mohamed, Z Mailah, M TJ Mechanical engineering and machinery This paper presents an investigation into the development of a hybrid control scheme with iterative learning for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller using hub angle and hub velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a non-collocated proportional-integral-derivative (PID) controller with iterative learning for control of vibration of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed PD-PID control scheme. The effectiveness of the control scheme in handling various payloads is also studied. 2004-02-23 Article PeerReviewed application/pdf en http://eprints.utm.my/517/1/zarhamdy_IASTED2004.pdf Zain, M Z M and Tokhi, M O and Mohamed, Z and Mailah, M (2004) Hybrid iterative learning control of a flexible manipulator. Proceedings of the 23rd IASTED International Conference Modelling, Identification and Control . pp. 313-318. |
| spellingShingle | TJ Mechanical engineering and machinery Zain, M Z M Tokhi, M O Mohamed, Z Mailah, M Hybrid iterative learning control of a flexible manipulator |
| title | Hybrid iterative learning control of a flexible manipulator
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| title_full | Hybrid iterative learning control of a flexible manipulator
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| title_fullStr | Hybrid iterative learning control of a flexible manipulator
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| title_full_unstemmed | Hybrid iterative learning control of a flexible manipulator
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| title_short | Hybrid iterative learning control of a flexible manipulator
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| title_sort | hybrid iterative learning control of a flexible manipulator |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/517/ http://eprints.utm.my/517/1/zarhamdy_IASTED2004.pdf |