alexa HUB ANGLE REGULATION AND END EFFECTER VIBRATION CONTRO
ISSN ONLINE(2278-8875) PRINT (2320-3765)

International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering
Open Access

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Research Article

HUB ANGLE REGULATION AND END EFFECTER VIBRATION CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

Narinder Singh Bhangal1, Rajiv Sharma2
  1. Associate Professor, Dept. of Instrumentation and control Engg, NIT,Jalandhar, Punjab, India
  2. Associate Professor, Dept. Of Mechanical Engg, LPU, Jalandhar , Punjab, India
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Abstract

Accurate trajectory regulation of flexible link manipulators is a challenging task. In the present work, a single link flexible manipulator with attached piezoelectric patches has been considered for the study. Model free controllers like Proportional-Integral-Derivative (PID) type of compensators provide better hub angle regulation as compared with H∞ optimization based controllers. However, the tip (end - effecter) vibrations can be better compensated using the later. PID controller has been applied for hub angle regulation and H∞ controller is applied at the piezoelectric actuator to reduce the tip vibrations. Different robust control algorithms have been applied. A comparative performance study of the closed loop system showing the relative merits and demerits of each control technique is presented.

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