A new method to control single-link lightweight flexible manipulators in the presence of changes in the load is proposed in this paper. The overall control scheme consists of three nested control loops. Once the friction and other nonlinear effects have been compensated, the inner loop is designed to give a fast motor response. The middle loop decouples the dynamics of the system, and reduces its transfer function to a double integrator. A fractional-derivative controller is used to shape the outer loop into the form of a fractional-order integrator. The result is a constant-phase system with, in the time domain, step responses exhibiting constant overshoot, independently of variations in the load. Continuous and discrete approximate implementations of the fractional controller are simulated. Comparison of the responses to a step command of the manipulator controlled with the proposed approximations and with the ideal fractional controller showed that the latter could be accurately approximated by standard continuous and discrete controllers of high order preserving the robustness. An interesting feature of this control scheme is that the overshoot is independent of the tip mass. This allows a constant safety zone to be delimited for any given placement task of the arm, independently of the load being carried, thereby making it easier to plan collision avoidance. Simulations also include comparison with standard PD controller, and verification of the assumption of dominant low-frequency vibration mode.
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ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 24–28, 2005
Long Beach, California, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4743-8
PROCEEDINGS PAPER
Fractional Control of a Single-Link Flexible Manipulator Available to Purchase
Vicente Feliu,
Vicente Feliu
Universidad de Castilla-La Mancha, Ciudad Real, Spain
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Blas M. Vinagre,
Blas M. Vinagre
Universidad de Extremadura, Badajoz, Spain
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Concepcio´n A. Monje
Concepcio´n A. Monje
Universidad de Extremadura, Badajoz, Spain
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Vicente Feliu
Universidad de Castilla-La Mancha, Ciudad Real, Spain
Blas M. Vinagre
Universidad de Extremadura, Badajoz, Spain
Concepcio´n A. Monje
Universidad de Extremadura, Badajoz, Spain
Paper No:
DETC2005-84819, pp. 1563-1572; 10 pages
Published Online:
June 11, 2008
Citation
Feliu, V, Vinagre, BM, & Monje, CA. "Fractional Control of a Single-Link Flexible Manipulator." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C. Long Beach, California, USA. September 24–28, 2005. pp. 1563-1572. ASME. https://doi.org/10.1115/DETC2005-84819
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