DocumentCode :
3470418
Title :
Vibration reduction in a flexible link mechanism through the synthesis of an MPC controller
Author :
Boscariol, P. ; Gasparetto, A. ; Zanotto, V.
Author_Institution :
Dipt. di Ing. Elettr., Univ. di Udine, Udine
fYear :
2009
fDate :
14-17 April 2009
Firstpage :
1
Lastpage :
6
Abstract :
The modeling and the control of flexible link robots have received a great deal of attention in the last decades due to the wide prospective industrial and space applications of ultra-light and high-speed mechanisms. This paper introduces a general and practical procedure for the design of effective control schemes for the position and vibration control of flexible links mechanisms. In particular, an innovative controller based on MPC (Model-based Predictive Control) is proposed. So far the MPC controllers have been employed almost exclusively in slow industrial processes. Nevertheless, this work shows that the MPC approach can be successfully adapted to plants whose dynamics are both nonlinear and fast changing as well. The performances of this approach will be evaluated for a single link mechanism and compared to those obtained with a standard PID position controller.
Keywords :
control system synthesis; finite element analysis; nonlinear control systems; position control; predictive control; robot dynamics; vibration control; FEM-based dynamical model; MPC controller synthesis; flexible link robot mechanism; model-based predictive control; nonlinear plant dynamics; position control; vibration control; vibration reduction; Computer architecture; Human robot interaction; Mechatronics; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Software performance; Systems engineering and theory; Vibration control; Model Predictive Control; flexible-link mechanism; mechatronics; robotics; vibration;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location :
Malaga
Print_ISBN :
978-1-4244-4194-5
Electronic_ISBN :
978-1-4244-4195-2
Type :
conf
DOI :
10.1109/ICMECH.2009.4957182
Filename :
4957182
Link To Document :
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