TY - JOUR
T1 - Robust P-H∞ integrated controller for flexible link manipulator system in the presence of disturbance
AU - Alandoli, Esmail Ali
AU - Lee, T. S.
AU - My, Chu A.
AU - Mohammed, Marwan Qaid
N1 - © 2020 by the authors. Licensee SCU, Ahvaz, Iran. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0 license) (http://creativecommons.org/licenses/by-nc/4.0/).
Data availability statement:
Not present.
PY - 2021/4/30
Y1 - 2021/4/30
N2 - Flexible link manipulators have recently high attention in research due to the numerous advantages over traditional manipulators. However, flexible link manipulators still have critical problem of less position accuracy due to the tip vibration. Thus, this research contributes by developing a robust P-H∞ integrated controller for a flexible link manipulator (FLM). The P-H∞ integrated controller is a combination of Proportional (P) controller and H∞ controller which helps of possession several advantages such as optimal position tracking, effective vibration repression, and robust to reject disturbances. The proposed P-H∞ integrated controller has been simulated to control the FLM system using MATLAB/Simulink toolbox. The results have demonstrated satisfactory performance of the proposed P-H∞ integrated controller in terms of position tracking, vibration repression, and disturbance rejection.
AB - Flexible link manipulators have recently high attention in research due to the numerous advantages over traditional manipulators. However, flexible link manipulators still have critical problem of less position accuracy due to the tip vibration. Thus, this research contributes by developing a robust P-H∞ integrated controller for a flexible link manipulator (FLM). The P-H∞ integrated controller is a combination of Proportional (P) controller and H∞ controller which helps of possession several advantages such as optimal position tracking, effective vibration repression, and robust to reject disturbances. The proposed P-H∞ integrated controller has been simulated to control the FLM system using MATLAB/Simulink toolbox. The results have demonstrated satisfactory performance of the proposed P-H∞ integrated controller in terms of position tracking, vibration repression, and disturbance rejection.
U2 - 10.22055/jacm.2020.35475.2668
DO - 10.22055/jacm.2020.35475.2668
M3 - Article
AN - SCOPUS:85103633599
SN - 2383-4536
VL - 7
SP - 646
EP - 654
JO - Journal of Applied and Computational Mechanics
JF - Journal of Applied and Computational Mechanics
IS - 2
ER -