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Modelling and open-loop control of a single-link flexible manipulator with genetic algorithms

Record type: Article

An open-loop control strategy for vibration suppression of a flexible manipulator system using genetic algorithms is presented in this paper. This consists of developing suitable forcing functions so that the dominant vibration modes of the system are not excited and hence the system vibration is reduced. The method requires that the vibration modes of the system be determined very precisely. Genetic algorithms (GAs) are used for this purpose. Low-pass and band-stop (elliptic type) filtered bang-bang torque inputs are accordingly developed on the basis of the identified vibration modes. The filtered torque inputs thus developed are applied to the system in an open-loop configuration and their performances in suppressing structural vibrations of the system are assessed in comparison to a bang-bang torque input. A comparative study of the low-pass and band-stop filtered torque inputs in suppressing the system vibrations are also presented and discussed.

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Citation

Shaheed, M.H., Tokhi, M.O., Chipperfield, A.J. and Azad, A.K.M. (2001) Modelling and open-loop control of a single-link flexible manipulator with genetic algorithms Journal of Low Frequency Noise, Vibration and Active Control, 20, (1), 39 - 55. (doi:10.1260/0263092011492975).

More information

Published date: 2001
Keywords: filtered, torque, input, flexible, manipulator, genetic, algorithms, open-loop, control, vibration, supression

Identifiers

Local EPrints ID: 22109
URI: http://eprints.soton.ac.uk/id/eprint/22109
ISSN: 1461-3484
PURE UUID: 8f4f2cb7-3e43-403e-8b73-4eba1ab8180a
ORCID for A.J. Chipperfield: ORCID iD orcid.org/0000-0002-3026-9890

Catalogue record

Date deposited: 21 Mar 2006
Last modified: 17 Jul 2017 16:23

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Contributors

Author: M.H. Shaheed
Author: M.O. Tokhi
Author: A.K.M. Azad

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