Mohd Helmi, Suid and Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Yasmin, Abdul Wahab and Mohd Riduwan, Ghazali (2012) Simple Pole Placement Controller for Elastic Joint Manipulator. In: 19th International Conference on Mechatronics and Machine Vision in Practice (M2VIP12) , 28-30 November 2012 , Auckland, New Zealand. pp. 116-121..
![[img]](http://umpir.ump.edu.my/style/images/fileicons/application_pdf.png)
|
PDF (M Helmi FKEE 2012)
p116-suid.pdf Download (439kB) |
Abstract
This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The pole placement controller is designed based on integral state feedback structure and the feedback gain is computed based on the desired time response specifications of tip angular position. The proposed control scheme is also compared with a hybrid Linear Quadratic Regulator (LQR) with input shaper control scheme. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
| Item Type: | Conference or Workshop Item (Speech) |
|---|---|
| Additional Information: | ISBN: 9780473204853 |
| Uncontrolled Keywords: | Elastic joint, Vibration control, Pole placement, LQR and input shaper |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Noorul Farina Arifin |
| Date Deposited: | 01 Feb 2013 02:30 |
| Last Modified: | 20 Mar 2018 08:01 |
| URI: | http://umpir.ump.edu.my/id/eprint/3434 |
| Download Statistic: | View Download Statistics |
Actions (login required)
 |
View Item |