H. Ishak

Vibration and input tracking control of flexible manipulator using hybrid fuzzy logic controller

This paper presents investigations into the development of hybrid fuzzy logic control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a proportional-derivative (PD)-type fuzzy logic controller (FLC) is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.

Techniques of anti-sway and input tracking control of a gantry crane system

This paper presents investigations into the development of control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD control is developed for cart position control of gantry crane. This is then extended to incorporate a non-collocated PID and an input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the gantry crane with the controllers are presented in time and frequency domains. The performances of the control schemes are examined in terms of level of input tracking capability, swing angle reduction and time response specifications in comparison to the PD control. Finally, a comparative assessment of the control techniques is presented and discussed.

Hybrid input shaping and PD-type Fuzzy Logic control scheme of a gantry crane system

This paper presents investigations into the development of hybrid control schemes for input tracking and anti-swaying control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD-type Fuzzy Logic control is developed for cart position control of gantry crane. This is then extended to incorporate input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of level of input tracking capability, swing angle reduction and time response specifications in comparison to the PD-type Fuzzy Logic control. Finally, a comparative assessment of the control techniques is presented and discussed.

Anti-sway techniques in feedback control loop of a gantry crane system A comparative assessment of PD and PD-type fuzzy logic controller

This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Proportional-derivative (PD) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Comparison of Active Sway Control of a Gantry Crane System

This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD) controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Vibration Suppression Techniques in Feedback Control of a Very Flexible Robot Manipulator

This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS) and Proportional-Derivative (PD) controller are the techniques proposed in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Decentralized controllers design for nonlinear uncertain systems with application on robotic systems

This paper presents investigation into the development of decentralized sliding mode control with application to trajectory tracking for hydraulically driven revolute robot manipulators. The control of hydraulically actuated robot manipulator is very challenging due to the highly nonlinearities in its dynamics, uncertainties parameters, and variations on payload. To overcome these problems, an integrated mathematical model of an N degree-of-freedom (dof) hydraulic robot manipulator is treated as a large-scale uncertain system models with bounded uncertainties where the bounds are known. This is then decomposed into interconnected uncertain subsystems in order to apply the decentralized tracking control strategy. Sliding mode control (SMC) and proportional-integral sliding mode control strategies will be utilized to overcome the inherent nonlinear dynamics under the decentralized frameworks. These approaches were adopted to ensure the stability of the system dynamics during the sliding mode and the insensitivity to the parameter variations and disturbances. The performance and robustness of the controllers were evaluated on a 3 dof hydraulically actuated manipulator through computer simulation. The results prove that the controllers have succeeded in forcing the 3 DOF hydraulic robot manipulators to track the predefined desired trajectory at all time.

Revolute control techniques of USBM simplified model

Universal stretch and bending machine (USBM) is a combination of stretch machine and bending machine which are used in car door sash production. The main purpose of combining these two machines is to reduce the number of machines, space utilization and increase productivity. This paper presents the design and modeling for revolute control techniques of USBM simplified module. Conventional proportional-integral-derivative (PID), linear quadratic regulator (LQR), and proportional-derivative (PD)-type fuzzy logic controller (FLC) are proposed to control the angular position of the revolute model. Simulation is implemented in SIMULINK/MATLAB and the results of the response of the system with the controllers are presented in time domains. The performances of the control schemes are assessed in terms of input tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.