N. Hambali

Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control

This paper presents investigations into the development of input shaping with Proportional-Derivative (PD)-type Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) and new modified specified negative amplitude zero-vibration-derivative-derivative (SNA-ZVDD) input shapers are then designed based on the properties of the system for vibration control. The new SNA-ZVDD is proposed to improve the robustness capability while increasing the speed of the system response. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the PD-type Fuzzy Logic with input shaping control schemes are examined in terms of input tracking capability, level of vibration reduction, robustness and time response specifications. A comparative assessment of the positive ZVDD and modified SNA-ZVDD shapers to the hybrid system performance is presented and discussed.

Feed-forward Techniques for Sway Suppression in a Double-Pendulum-Type Overhead Crane

This paper presents investigations into the development of feed-forward control schemes for anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forward control schemes based on input shaping and filtering techniques are to be examined. The proposed techniques are designed based on the properties of the system for anti-sway control. Simulation results of the response of the DPTOC system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.

The investigations of input shaping with optimal state feedback for vibration control of a flexible joint manipulator

This paper presents investigations into the development of input shaping with optimal state feedback for trajectory tracking and vibration control of a flexible joint manipulator. A single-link flexible joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, a linear-quadratic regulator (LQR) controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) and new modified specified negative amplitude zero-vibration-derivative-derivative (SNA-ZVDD) input shapers are then designed based on the properties of the system for vibration control. The new SNA-ZVDD is proposed to improve the robustness capability while increasing the speed of the system response. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the LQR with input shaping control schemes are examined in terms of input tracking capability, level of vibration reduction, robustness and time response specifications. A comparative assessment of the positive ZVDD and modified SNA-ZVDD shapers to the hybrid system performance is presented and discussed.

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.

Investigations of feed-forward techniques for anti-sway control of 3-D gantry crane system

This paper presents investigations into the development of feed-forward control schemes for anti-swaying control of a gantry crane system. A nonlinear 3-D gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forward control schemes based on input shaping and filtering techniques are to be examined. The proposed techniques are designed based on the properties of the system for anti-sway control. Simulation results of the response of the gantry crane system to the shaped inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of swing angle reduction and time response specifications. Moreover, the robustness of the feed-forward control schemes is discussed. Finally, a comparative assessment of the proposed 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.

Automatic detection computer-based (ADCob) system for temperature measurement calibration of RTD

The accuracy of the temperature measurement calibration in industry which consume a long process creates a chance that errors in the measurement influence the decision. The need of uncertainty analysis via virtual instrument is to provide a better measurement of that influence and likelihood of presented a wrong decision. Using the temperature calibration instrument, the purpose of this paper is to design the automatic detection of temperature calibration for uncertainty calculation and confidence limits determination system. The test was conducted using Resistance Temperature Detector (RTD) sensor and repeated for three times. The data acquisition (DAQ) card is used to interface the temperature instrument and the computer. In order to determine the uncertainty and confidence limits of the temperature measurement, graphical user interface (GUI) system has been developed in Visual Basic(VB) programming language. The developed measurement system shows that the uncertainty of RTD can be calculated by interfacing the instrument to the computer through DAQ card. The study focuses on automatic detection of the temperature measurement and concentrates only on RTD sensor. The results provide the confidence limits of five-point calibration that could improve the manual computer-based system by using automatic computer-based system of the temperature measurement.

Techniques of vibration feedback control of a 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)-type fuzzy logic controller are the techniques used 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 both controllers 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.

Analysis of IIR Filter with NCTF-PI control for sway and trajectory motion of a DPTOC system

This paper presents performance analysis of hybrid control schemes for trajectory motion and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC 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 nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate Infinite Impulse Response (IIR) filter schemes for anti-swaying control of the system. The Butterworth low-pass filter with different orders was design based on properties of the system. The analyses of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented.

Investigations of NCTF with input shaping for sway control of a double-pendulum-type overhead crane

This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC 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 nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The positive input shaper with different orders was design based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented.