Inverse dynamics feed forward based control of two degrees of freedom whisker sensor

This work proposes an open loop control method that aims to actively control a two degrees of freedom flexible whisker. An accurate whisker model has to involve non-linear expressions that govern flexible link dynamics made of composite materials. The control method is based on the whisker dynamic model, as well as the motor position controller design to rapidly reorient and point the whisker´s tip while removing the effects of the motor friction. In this way, a new algebraic regulator is designed to be placed in an inner loop, and its performance is compared to a PD controller with the Coulomb friction compensation. The dynamic model and its parameters were validated by experiments and its expressions are useful for designing the inverse dynamics based control. The full inverse dynamics module (link and motor dynamics) can considerably reduce the vibrations at the tip. The overall control model was designed and simulated by Simulink/Matlab. Experimental results validate the whisker control system and relevant comparisons illustrate the full model performance.