Journal
APPLIED MATHEMATICAL MODELLING
Volume 70, Issue -, Pages 285-298Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.apm.2019.01.035
Keywords
Active vibration control; Flexible-link robot; Modal analysis; Multiple Positive Position Feedback; Sliding-Mode Control
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This work deals with asymptotic trajectory tracking and active damping injection on a flexible-link robot by application of Multiple Positive Position Feedback. The flexible-link robot is modeled and validated by using finite element methods and experimental modal analysis, and then a reduced order model of the flexible-link robot dynamics, up to the first dominant vibration modes, is employed for experimental evaluation on a test rig. Then, a combined control scheme is synthesized in two parts: first, a Sliding-Mode Control based on a cascaded Proportional-Integral-Derivative for regulation and trajectory tracking tasks, via a direct current motor torque as the control input for the overall system dynamics, and, second, a Multiple Positive Position Feedback for active vibration control and attenuation of residual vibrations on the tip position, via the input voltage applied to a piezoelectric patch actuator attached directly on the flexible beam. The results are evaluated on an experimental platform, where the dynamic performance of the overall active vibration control scheme leads to fast and effective tracking results, with damping ratios increased up to 300%. (C) 2019 Elsevier Inc. All rights reserved.
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