Iterative-Learning-Based Motion Planning and Position Control of a Single-Link Flexible Manipulator With Vibration Sensor Hysteresis
The measurement of the vibration state is crucial in controlling flexible manipulators, as it helps to design effective strategies for vibration suppression. However, vibration sensors often display complex nonlinear hysteresis in their input-output relationship due to the viscoelastic nature of the...
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Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2024-12, Vol.29 (6), p.4560-4571 |
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Sprache: | eng |
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Zusammenfassung: | The measurement of the vibration state is crucial in controlling flexible manipulators, as it helps to design effective strategies for vibration suppression. However, vibration sensors often display complex nonlinear hysteresis in their input-output relationship due to the viscoelastic nature of their materials. Regrettably, current research on flexible manipulators often overlooks these hysteresis traits, potentially compromising their control performance in practical application. This article considers the hysteresis characteristics of the vibration sensor installed on a practical planar single-link flexible manipulator and explores solutions to address the position control problem of this system. Specifically, a large amount of data is collected from the input and output signals of the vibration sensor to analyze its hysteresis characteristics. Then, a posterior filter inverse compensator is designed to compensate for the hysteresis. On this basis, a control strategy is developed to achieve position control of the system through motion planning and tracking control, in which a nonlinear extended state observer and an iterative learning control method are employed to handle uncertainties and eliminate steady-state error in position control. The experimental results illustrate the effectiveness of this control strategy. |
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ISSN: | 1083-4435 1941-014X |
DOI: | 10.1109/TMECH.2024.3377995 |