Development of Data-Driven Model and Control Techniques for a Two-Link Flexible Manipulator (TLFM)
Author's Department
Mechanical Engineering Department
Second Author's Department
Mechanical Engineering Department
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https://doi.org/10.1109/ISIE45552.2021.9576193
Document Type
Research Article
Publication Title
IEEE International Symposium on Industrial Electronics
Publication Date
6-20-2021
doi
10.1109/ISIE45552.2021.9576193
Abstract
There has been an ongoing interest in the modeling and control of flexible manipulators (FMs) due to their potential application in many domains such as space, biomedical and industrial fields. But because of the vibration effect of FM links, different modeling methods and control techniques are studied to improve the system performance. A two-link flexible manipulator (TLFM) has complex math models such as the assumed mode method (AMM) model and a simplified lumped parameter method (LPM) model, which are used to design different control techniques. This paper aims to develop a linear data-driven model (LDDM-1) of a TLFM, including a comparative study of this model with other models. LDDM-1 is developed using the input-output data acquired from Quanser 2-DOF serial flexible manipulator (2DSFLM) but with a model structure based on the LPM model. The other TLFM models, LPM and linear data-driven model 2 (LDDM-2) are compared with LDDM-1 while using the response of the physical system as the benchmark. Besides, PID control, fuzzy logic control (FLC) and LQR control are designed. Then, the closed-loop simulations of the controllers with different models are conducted in MATLAB/Simulink. After simulation, the controllers are implemented on Quanser 2DSFLM experimental platform. The simulation and experimental results indicate the performance of FLC is better than LQR and PID based on the position control and tracking response of the manipulator. At the same time, LQR outperformed the other controllers in deflection suppression.
Recommended Citation
APA Citation
Ayankoso, S.
&
Habib, M.
(2021). Development of Data-Driven Model and Control Techniques for a Two-Link Flexible Manipulator (TLFM). IEEE International Symposium on Industrial Electronics, 2021-June,
10.1109/ISIE45552.2021.9576193
https://fount.aucegypt.edu/faculty_journal_articles/2458
MLA Citation
Ayankoso, Samuel A., et al.
"Development of Data-Driven Model and Control Techniques for a Two-Link Flexible Manipulator (TLFM)." IEEE International Symposium on Industrial Electronics, vol. 2021-June, 2021,
https://fount.aucegypt.edu/faculty_journal_articles/2458