Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator

doi:10.1016/j.apm.2022.05.030

	Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator
	Shi, Mingming 1,2; Cheng, Yong 1,2; Rong, Bao 3; Zhao, Wenlong 2; Yao, Zhixin 1,2; Yu, Chao 1,2
刊名	APPLIED MATHEMATICAL MODELLING
	2022-10-01
卷号	110
关键词	Flexible link manipulator Dynamics modeling Residual vibration suppression Crossbreeding PSO algorithm Trajectory tracking
ISSN号	0307-904X
DOI	10.1016/j.apm.2022.05.030
通讯作者	Shi, Mingming(mmshi@mail.ustc.edu.cn) ; Rong, Bao(rongbao@njust.edu.cn)
英文摘要	Residual vibrations caused by point-to-point motions reduce the positioning accuracy and dynamic performance of flexible link manipulators, and the trajectory planning method, a well-known open-loop control strategy, has been proven to effectively suppress the residual vibration in point-to-point motion. However, this open-loop control method has limitations in dealing with model uncertainty and disturbance problems. In this paper, a control strategy based on dynamics-based trajectory planning and fuzzy self-tuning PD (FST PD) controller is proposed, and applied to achieve residual vibration suppression and trajectory tracking of a flexible link manipulator. To improve the trajectory tracking performance under external disturbances, this control strategy is combined with a linear extended state observer (LESO). Firstly, the dynamic model of the system is deduced using the floating reference frame and Lagrange equation. On this basis, the objective function to minimize the lateral deformation of the tip is constructed, and then the optimal trajectory is obtained by using the Crossbreeding PSO (CBPSO) algorithm. Secondly, the optimal trajectory is used as the desired trajectory to suppress residual vibration, and the FST PD controller combined with the LESO is used to achieve high-precision trajectory tracking control of the flexible link manipulator. Finally, the effectiveness and feasibility of the composite control strategy is verified through multiple simulations. The proposed method can provide support for vibration suppression of flexible link manipulators; meanwhile, the controller structure of this method is simple and easy to implement, and the use of sensors/actuators and other equipment in the system is reduced, which effectively reduces the economic cost.(c) 2022 Elsevier Inc. All rights reserved.
资助项目	National Natural Science Foundation of China[11802305] ; Comprehensive Re-search Facility for Fusion Technology Program of China[2018-0 0 0 052-73-01-0 01228]
WOS关键词	DYNAMIC-ANALYSIS ; OPTIMIZATION ; SYSTEMS ; MODEL
WOS研究方向	Engineering ; Mathematics ; Mechanics
语种	英语
出版者	ELSEVIER SCIENCE INC
WOS记录号	WOS:000808573500006
资助机构	National Natural Science Foundation of China ; Comprehensive Re-search Facility for Fusion Technology Program of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/131269]
专题	中国科学院合肥物质科学研究院
通讯作者	Shi, Mingming; Rong, Bao
作者单位	1.Univ Sci & Technol China, Hefei 230026, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Plasma Phys, Hefei 230031, Peoples R China 3.Nanjing Univ Sci & Technol, Inst Launch Dynam, Nanjing 210094, Peoples R China
推荐引用方式 GB/T 7714	Shi, Mingming,Cheng, Yong,Rong, Bao,et al. Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator[J]. APPLIED MATHEMATICAL MODELLING,2022,110.
APA	Shi, Mingming,Cheng, Yong,Rong, Bao,Zhao, Wenlong,Yao, Zhixin,&Yu, Chao.(2022).Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator.APPLIED MATHEMATICAL MODELLING,110.
MLA	Shi, Mingming,et al."Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator".APPLIED MATHEMATICAL MODELLING 110(2022).