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Rotation Angle Control Strategy for Telescopic flexible manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 203-226页

作者： Dongyang Shang Xiaopeng Li Meng Yin Fanjie Li Bangchun Wen School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen 518055China

The length of fexible manipulators with a telescopic arm alters during movement.The dynamic parameters of telescopic fexible manipulators exhibit signifcant time-varying characteristics owing to variations in length.With an increase in the manipulators’length,the nonlinear terms caused by fexibility in the manipulators’dynamic equations cannot be ignored.The time-varying characteristics and nonlinear terms of telescopic fexible manipulators cause fuctuations in rotation angles,which afect the operation accuracy of end-efectors.In this study,a control strategy based on a combination of fuzzy adjustment and an RBF neural network is utilized to improve the control accuracy of fexible telescopic manipulators.First,the dynamic equation of the manipulators is established using the assumed mode method and Lagrange’s principle,and the infuence of nonlinear terms is analyzed.Subsequently,a combined control strategy is proposed to suppress the fuctuation of the rotation angle in telescopic fexible manipulators.The variation ranges of the feedforward PD controller parameters are determined by the pole placement strategy and length of the manipulators.Fuzzy rules are utilized to adjust the controller parameters in real-time.The RBF neural network is utilized to identify and compensate the uncertain part of the dynamic model of the fexible manipulators.The uncertain part comprises time-varying parameters and nonlinear terms.Finally,numerical simulations and prototype experiments prove the efectiveness of the combined control strategy.The results prove that the proposed control strategy has a smaller standard deviation of errors.Therefore,the combined control strategy is more suitable for telescopic fexible manipulators,which can efectively improve the control accuracy of rotation angles.

关键词： flexible manipulator RBF neural network Fuzzy control Dynamic uncertainty

DYNAMICS OF A ROTATING flexible manipulator WITH TIP LOAD

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Acta Mechanica Solida Sinica 1998年第4期11卷 365-373页

作者： Hu, ZD Hong, JZ Shanghai Jiao Tong Univ Dept Engn Mech Shanghai 200030 Peoples R China

The dynamics of a flexible manipulator is investigated in this paper. From the point of view of dynamic balance, the motion equations of a rotating beam with tip load are established by us ing Hamilton' s principle. By taking into account the effects of dynamic stiffening and dynamic softening, the stability of the system is proved by employing Lyapunov' s approach. Furthermore, the method of power series is proposed to find the exact solution of the eigenvalue problem The effects of rotating speed and tip load on the vibration behavior of the flexible manipulator are shown in numerical results.

关键词： flexible manipulator large rigid motion dynamic stiffening stability of System Lyapunov functional eigenvalue problem

Trajectory Optimization of a flexible manipulator using Backstepping in the form of Partial Differential Equations

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Trajectory Optimization of a Flexible Manipulator using Back...

Dual Time-Scale Control of flexible manipulator Based on Double-Power Sliding Mode and LQR

第36届中国控制会议

作者： Fangfei Cao Jinkun Liu School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781538629185

In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation（PDE） model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution（DE） algorithm and cubic spline interpolating function method are applied to generate the optimal trajectory, which will minimize the deformation of flexible manipulator. Then, a backstepping boundary control scheme is proposed to regulate the joint along the optimal trajectory and suppress vibration simultaneously. In simulation, the optimum algorithm and backstepping controller are verified by MATLAB.

关键词： flexible manipulator PDE model Singular perturbation Trajectory optimization Backstepping control

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Dual Time-Scale Control of Flexible Manipulator Based on Dou...

Integrated Optimal Model of Structure and Control of the Single Arm manipulator

第三十九届中国控制会议

作者： Xiaotong Sun Lei Ma Mengxue Li Yongkui Sun Haoran Liu Southwest Jiaotong University School of Electrical Engineering

Trajectory tracking and vibration suppression of flexible manipulators are addressed in this paper. A control method combining double-power sliding mode and linear quadratic regulation is proposed. Firstly, the hypothetical modal method is used to describe the vibration mode of the flexible manipulator, and then the Lagrange dynamic equation is used to establish the dynamic model. The singular perturbation method is applied to reduce the order of the system model, and a dual time-scale model is obtained. For the slower part of the dynamics, the double-power sliding mode control is utilized for trajectory tracking and for the fast part of dynamics an optimal controller is designed for vibration suppression. The dual time-scale combination controller for the flexible manipulator is constructed. Feasibility and effectiveness of the combination control is verified by MATLAB/Simulink simulation.

关键词： flexible manipulator Singular perturbation method double-power sliding mode optimal control

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Journal of Beijing Institute of Technology 2006年第3期15卷 278-282页

作者：朱灯林姜涛魏俊华王安麟王石刚 School of Mechanical Engineering Shanghai Jiaotong University Shanghai 200030 China

The integrated optimal design of mechanical and control system is discussed in terms of the performance requirement and configuration for the single arm flexible manipulator. By combination of dynamics of flexible structure and control theory, a PD feedback control system, which minimizes the settling time, has been designed. Then, the viable region of poles of the PD dosed-loop control system is decided according to overshoot and the settling time, and an integrated optimal model of structure and control of single arm manipulator is presented. Finally, the parameters of structure and control system are simultaneously optimized with respect to objective function induding the moment of inertia and the control effort of system.

关键词： flexible manipulator performance requirement and configuration integrated structure/control integrated design of mechatronical system

Sliding Mode Control for flexible-link manipulators Based on Adaptive Neural Networks

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International Journal of Automation and computing 2018年第2期15卷 239-248页

作者： Hong-Jun Yang Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper mainly focuses on designing a sliding mode boundary controller for a single flexible-link manipulator based on adaptive radial basis function （RBF） neural network. The flexible manipulator in this paper is considered to be an Euler-Bernoulli beam. We first obtain a partial differential equation （PDE） model of single-link flexible manipulator by using Hamiltons approach. To improve the control robustness, the system uncertainties including modeling uncertainties and external disturbances are compensated by an adaptive neural approximator. Then, a sliding mode control method is designed to drive the joint to a desired position and rapidly suppress vibration on the beam. The stability of the closed-loop system is validated by using Lyapunov＇s method based on infinite dimensional model, avoiding problems such as control spillovers caused by traditional finite dimensional truncated models. This novel controller only requires measuring the boundary information, which facilitates implementation in engineering practice. Favorable performance of the closed-loop system is demonstrated by numerical simulations.

关键词： Sliding mode control adaptive control neural network flexible manipulator partial differential equation （PDE）.

Motion Planning for Vibration Reducing of Free-floating Redundant manipulators Based on Hybrid Optimization Approach

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Chinese Journal of Aeronautics 2011年第4期24卷 533-540页

作者： LIAO Yihuan LI Daokui TANG Guojin College of Aerospace and Materials Engineering National University of Defense Technology Changsha 410073 China

This paper is concerned with optimal motion planning for vibration reducing of free-floating flexible redundant manipulators. Firstly, dynamic model of the system is established based on Lagrange method, and the motion planning model for vibration reducing is proposed. Secondly, a hybrid optimization approach employing Gauss pseudospectral method （GPM） and direct shooting method （DSM）, is proposed to solve the motion planning problem. In this approach, the motion planning problem is transformed into a non-linear parameter optimization problem using GPM, and genetic algorithm （GA） is employed to locate the approximate solution. Subsequently, an optimization model is formulated based on DSM, and sequential quadratic programming （SQP） algorithm is used to obtain the accurate solution, with the approximate solution as an initial reference solution. Finally, several numerical simulations are investigated, and the global vibration or residual vibration of flexible link is obviously reduced by the joint trajectory which is obtained by the hybrid optimization approach. The numerical simulation results indicate that the approach is effective and stable to the motion planning problem of vibration reducing.

关键词： flexible manipulator dynamic modeling motion planning Gauss pseudospectral method direct shooting method genetic algorithm sequential quadratic programming

Delayed feedback control experiments on some flexible structures

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Acta Mechanica Sinica 2010年第6期26卷 951-965页

作者： Guo-Ping Cai·Long-Xiang Chen Department of Engineering Mechanics, State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University,200240 Shanghai,China Department of Engineering Mechanics State Key Laboratory of Ocean Engineering Shanghai Jiaotong University Shanghai China

In recent decades,studies on delayed system dynamics have attracted increasing attention and advances have been achieved in stability,nonlinearity,delay identification, delay elimination and application.However,most of the existing work is on the theoretical basis and little is on the experiment.This paper presents our experimental studies on delayed feedback control conducted in recent years with the focus on the discussion of a DSP-based delayed experiment system.Some phenomena in our delay experiments are discussed and a few topics of interest for further research are brought forward.

关键词： flexible beam flexible plate flexible manipulator Delayed feedback control Experiment

Simultaneous Optimization of Trajectory, Shape and Controllers for flexible manipulators

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Simultaneous Optimization of Trajectory, Shape and Controlle...