Adaptive input shaping for single-link flexible manipulators using an algebraic identification |
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Authors: | Emiliano Pereira Juan R TraperoIván M Díaz Vicente Feliu |
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Affiliation: | a Escuela Politécnica Superior, Universidad de Alcalá de Henares, Ctra. Madrid-Barcelona, Km. 33,600, 28805 Alcalá de Henares, Madrid, Spain b Facultad de Ciencias Químicas, Universidad de Castilla-La Mancha, Av. Camilo José Cela s/n, 13071 Ciudad Real, Spain c Escuela Técnica Superior de Ingenieros Industriales, Universidad de Castilla-La Mancha, Av. Camilo Jose Cela s/n, 13071 Ciudad Real, Spain |
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Abstract: | This work proposes an adaptive control scheme applied to single link-flexible manipulators, which combines a feedback controller of the joint angle with an adaptive input shaper updated by an algebraic non-asymptotic identification. The feedback controller is designed to guarantee trajectory tracking of the joint angle, simplifying thus the input shaper, which can be designed for the arm dynamics only. The input shaper is updated by an algebraic identification of the natural frequency corresponding to the first vibration mode of the arm. In addition, the influence of the assumptions adopted to derive the algebraic identification on the performance of the estimation is studied. Finally, the proposed adaptive control strategy is implemented in practice. |
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Keywords: | Identification algorithms Adaptive control Open-loop control systems Flexible arms Trajectories and Monte Carlo simulation |
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