Integral Resonant Control for vibration damping and precise tip-positioning of a single-link flexible manipulator

Emiliano Pereira, Sumeet Sunil Aphale, Vicente Feliu, S. O. R. Moheimani

Research output: Contribution to journalArticle

114 Citations (Scopus)
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In this paper, we propose a control design method for single-link flexible manipulators. The proposed technique is based on the integral resonant control (IRC) scheme. The controller consists of two nested feedback loops. The inner loop controls the joint angle and makes the system robust to joint friction. The outer loop, which is based on the IRC technique, damps the vibration and makes the system robust to the unmodeled dynamics (spill-over) and resonance frequency variations due to changes in the payload. The objectives of this work are: 1) to demonstrate the advantages of IRC, which is a high-performance controller design methodology for flexible structures with collocated actuator-sensor pairs and 2) to illustrate its capability of achieving precise end-point (tip) positioning with effective vibration suppression when applied to a typical flexible manipulator. The theoretical formulation of the proposed control scheme, a detailed stability analysis and experimental results obtained on a flexible manipulator are presented.

Original languageEnglish
Pages (from-to)232-240
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
Publication statusPublished - Apr 2011


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