International Journal of Scientific & Technology Research

Home About Us Scope Editorial Board Blog/Latest News Contact Us
10th percentile
Powered by  Scopus
Scopus coverage:
Nov 2018 to May 2020


IJSTR >> Volume 2- Issue 12, December 2013 Edition

International Journal of Scientific & Technology Research  
International Journal of Scientific & Technology Research

Website: http://www.ijstr.org

ISSN 2277-8616

Vibration Control Comparison Of A Single Link Flexible Manipulator Between Fuzzy Logic Control And Pole Placement Control

[Full Text]



Auwalu M. Abdullahi, Z. Mohamed, Mustapha Muhammad, AA Bature



Index Terms: Flexible manipulator, pole placement control, fuzzy logic control, vibration and tip deflection control.



Abstract: Vibration is an unwanted phenomena and difficult to handle in the control of flexible manipulators and it becomes more difficult with increased in the payload values to the system. In this work two control schemes- fuzzy logic control and pole placement control are designed and compared for the control of both vibration and tip deflection which occurs during its operation as a result of both rigid-body motion and elastic (flexible) motion of a single link flexible manipulator. The fuzzy logic control scheme was designed with the joint angle error and its derivative as the input of the controller. By computing the control signal using the error and its derivative, the fuzzy controller add damping to the joint thereby controlling the vibration and tip deflection of the system. On the other hand, a model based pole placement control scheme was designed to place the system poles at a desired location based on design specification to overcome the vibration and achieve precise tip deflection of the flexible link. In both control scheme a MATLAB Simulink environment is used to investigate the effects of the controls and a comparison of the simulation results was conducted.



[1]. Pereira, E., et al., Integral Resonant Control for Vibration Damping and Precise Tip-Positioning of a Single-Link Flexible Manipulator. Mechatronics, IEEE/ASME Transactions on, 2011. 16(2): p. 232-240.

[2]. Feliu, V., et al., Robust tip trajectory tracking of a very lightweight single-link flexible arm in presence of large payload changes. Mechatronics, 22(5), 2012, 594-613

[3]. H Tjahyadi, F He and K Sammut. Multi-Mode vibration control of a flexible cantilever beam using adaptive resonant control. Smart materials and structures. 2006 15 pp 270-278.

[4]. Jnifene, A. and W. Andrews, Experimental study on active vibration control of a single-link flexible manipulator using tools of fuzzy logic and neural networks. Instrumentation and Measurement, IEEE Transactions on, 54(3), 2005, 1200-1208.

[5]. Jim-Xin Xu and Wen-Jun Cao, Active Vibration Manipulator Control of a Single-Link Flexible by Pole-Placement Approach, Proceedings of the 38" Conference on Decision & Control Phoenix, Arizona USA December 1999

[6]. Ahmad, M.A., et al. PD Fuzzy Logic with non-collocated PID approach for vibration control of flexible joint manipulator. in Signal Processing and Its Applications (CSPA), 2010 6th International Colloquium on. 2010

[7]. Mahmood, I.A., B. Bhikkaji, and S.O.R. Moheimani. Vibration and Position Control of a Flexible Manipulator. in Information, Decision and Control, 2007. IDC '07. 2007.

[8]. Ahmad, M.A., et al. Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control. in Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on. 2009.

[9]. Subhash Chandra Saini, Yagvalkya Sharma, Manisha Bhandari and Udit Satija, Comparison of Pole Placement and LQR Applied to Single Link Flexible Manipulator, International Conference on Communication Systems and Network Technologies, 2012.

[10]. Q.P.Ha, H. Trinh, J.G Zhu.and H. T. Nguyen, Dynamic output feedback control of singel-link flexible manipulators, Australian comference on robotics and Automation, sydney 14-15 November 2001

[11]. Pota, H.R., S.O.R. Moheimani, and M. Smith. Resonant controllers for flexible structures. in Decision and Control, 1999. Proceedings of the 38th IEEE Conference on. 1999.

[12]. Mannani, A. and H.A. Talebi. Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results. in Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on. 2005

[13]. Feliu, V., et al. Adaptive control of a single-link flexible manipulator, 1990 IEEE Conference on robotcics and Automatic

[14]. G. Venkata Narayana and P. Ramesh, Modelling and Control of Single Link Manipulators for Flexible Operation by using Linearization Techniques, International Journal of Current Engineering and Technology ISSN 2277 4106, Accepted 25 May 2013, Available online 1June 2013, Vol.3, No.2 (June 2013)

[15]. AM Abdullahi, Z Mohamed, M Muhammad, A Pd-Type Fuzzy Logic Control Approach For Vibration Control Of A Single-Link Flexible Manipulator, International Journal of Research in Engineering and Science (IJRES) ISSN (Online): 2320-9364, ISSN (Print): 2320-9356 Volume 1 Issue 4 ǁ August. 2013 ǁ PP.37-47

[16]. M.O Tokhi, Z. Mohamed and M.H. Shaheed. Dynamic characterisation of a flexible manipulator system. in Robotica (2001) volume 19, 2001, 571-580

[17]. J. Katende and M. Mustapha, "Neural Network Control of a Laboratory Magnetic Levitator," in Integrated Models for InformationCommunication Systems and Networks: Design and Development, A. A. Atayero and O. I. Sheluhin, Eds., ed Hershey PA, US: Information Science Reference (an imprint of IGI Global), 2013, pp. 361-374.

[18]. AA Bature, M Muhammad, and AM Abdullahi, Identification and Real Time Control of a DC Motor, IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-ISSN : 2278-1676,p-ISSN: 2320-3331, Volume 7, Issue 4 (Sep. - Oct. 2013), PP 54-58