Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter

The design problem of a discrete controller with time delay and acceleration feedback for a single-link flexible manipulator system is addressed in this paper. The dynamical model of a single-link flexible manipulator system is presented by the adoption of the finite element method and Lagrange’s eq...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Yuming Huang, Weidong Chen, Minqiang Shao
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Physics QC1-999
Acceso en línea:	https://doaj.org/article/f3a472a7cfe24b6e8b61acf39d8aeea4
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:f3a472a7cfe24b6e8b61acf39d8aeea4
record_format	dspace
spelling	oai:doaj.org-article:f3a472a7cfe24b6e8b61acf39d8aeea42021-11-22T01:11:34ZTime-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter1875-920310.1155/2021/6699145https://doaj.org/article/f3a472a7cfe24b6e8b61acf39d8aeea42021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/6699145https://doaj.org/toc/1875-9203The design problem of a discrete controller with time delay and acceleration feedback for a single-link flexible manipulator system is addressed in this paper. The dynamical model of a single-link flexible manipulator system is presented by the adoption of the finite element method and Lagrange’s equation. Based on the random-walk process and the discrete reduction method, an augmented discretized delay-free state derivate space equation containing the random noise is established. An acceleration-based Kalman filtering method is developed in order to estimate the system state and external excitation necessary for the controller design. In light of the estimated augmented states, a hybrid controller that combines a feedback control algorithm and a feedforward control algorithm is designed according to optimal control theory and Moore–Penrose theory. Numerical simulation results show that the proposed controller can damp out the vibration response of the flexible manipulator system effectively upon external excitations. Moreover, it is further revealed that the control performance of the presented method can be improved by adding the time delay appropriately.Yuming HuangWeidong ChenMinqiang ShaoHindawi LimitedarticlePhysicsQC1-999ENShock and Vibration, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Physics QC1-999
spellingShingle	Physics QC1-999 Yuming Huang Weidong Chen Minqiang Shao Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter
description	The design problem of a discrete controller with time delay and acceleration feedback for a single-link flexible manipulator system is addressed in this paper. The dynamical model of a single-link flexible manipulator system is presented by the adoption of the finite element method and Lagrange’s equation. Based on the random-walk process and the discrete reduction method, an augmented discretized delay-free state derivate space equation containing the random noise is established. An acceleration-based Kalman filtering method is developed in order to estimate the system state and external excitation necessary for the controller design. In light of the estimated augmented states, a hybrid controller that combines a feedback control algorithm and a feedforward control algorithm is designed according to optimal control theory and Moore–Penrose theory. Numerical simulation results show that the proposed controller can damp out the vibration response of the flexible manipulator system effectively upon external excitations. Moreover, it is further revealed that the control performance of the presented method can be improved by adding the time delay appropriately.
format	article
author	Yuming Huang Weidong Chen Minqiang Shao
author_facet	Yuming Huang Weidong Chen Minqiang Shao
author_sort	Yuming Huang
title	Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter
title_short	Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter
title_full	Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter
title_fullStr	Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter
title_full_unstemmed	Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter
title_sort	time-delayed acceleration feedback control of a single-link flexible manipulator using kalman filter
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/f3a472a7cfe24b6e8b61acf39d8aeea4
work_keys_str_mv	AT yuminghuang timedelayedaccelerationfeedbackcontrolofasinglelinkflexiblemanipulatorusingkalmanfilter AT weidongchen timedelayedaccelerationfeedbackcontrolofasinglelinkflexiblemanipulatorusingkalmanfilter AT minqiangshao timedelayedaccelerationfeedbackcontrolofasinglelinkflexiblemanipulatorusingkalmanfilter
_version_	1718418316312182784

Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter

Ejemplares similares