Generalized Predictive Control for a Flexible Single-Link Manipulator - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2013

Generalized Predictive Control for a Flexible Single-Link Manipulator

Abstract

This paper presents the development of a generalized predictive controller applied to a flexible single-link manipulator robot to compare to a fuzzy supervisory controller in input tracking and end-point vibration suppression. A dynamic model of the flexible manipulator is derived using finite elements method and Lagrange’s equations to determine dynamics behavior. A generalized predictive controller is then developed and introduced in the system closed-loop to minimize end-point residual vibrations. A fuzzy supervisory controller is also synthesized to compare simulation results between the two methods of control in terms of input tracking and disturbance rejection.
Fichier principal
Vignette du fichier
978-3-642-40925-7_46_Chapter.pdf (491.82 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01496095 , version 1 (27-03-2017)

Licence

Attribution

Identifiers

Cite

Rahma Boucetta. Generalized Predictive Control for a Flexible Single-Link Manipulator. 12th International Conference on Information Systems and Industrial Management (CISIM), Sep 2013, Krakow, Poland. pp.499-510, ⟨10.1007/978-3-642-40925-7_46⟩. ⟨hal-01496095⟩
133 View
276 Download

Altmetric

Share

Gmail Facebook X LinkedIn More