Intelligent proportional-integral (iPI) control of a single link flexible joint manipulator

被引：31

作者：

Agee, John T. ^{[1
]}

Kizir, Selcuk ^{[2
]}

Bingul, Zafer ^{[2
]}

机构：

[1] Tshwane Univ Technol, Dept Elect Engn, Pretoria, South Africa

[2] Kocaeli Univ, Dept Mech Engn, TR-41380 Kocaeli, Turkey

来源：

JOURNAL OF VIBRATION AND CONTROL | 2015年 / 21卷 / 11期

关键词：

Flexible-joint manipulator; intelligent PI control; PI control; PID control; trajectory tracking; FUZZY-LOGIC CONTROL; FEEDBACK-CONTROL; DESIGN;

D O I：

10.1177/1077546313510729

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

This paper presents the design, stability analysis and experimental validation of a computationally non-intensive, model-free, intelligent proportional-integral (iPI) controller for flexible joint manipulators. In order to show the performance of the iPI controller, it is compared with classical proportional-integral and proportional-integral-derivative controllers. Based on this comparison, the iPI-controlled system achieved a better than 60% tracking accuracy for both kane trajectory and sine input tracking. The iPI controller also significantly reduced transient swings in the flexible joint of the manipulator, when tracking a train of pulses. Moreover, the iPI controlled system successfully eliminated both disturbances and noise effects from the dynamics of the manipulator.

引用

页码：2273 / 2288

页数：16

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