This paper presents investigations into the development of control schemes for end-point vibration suppression and input trajectory of a flexible manipulator. A constrained planar single-link flexible manipulator is c...
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This paper presents investigations into the development of control schemes for end-point vibration suppression and input trajectory of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a Linear Quadratic Regulator (LQR) is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. For feedforward controller, the positive input shapers are proposed and designed based on the properties of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
This paper presents a new innovative way of teaching undergraduate program using low cost masks to fabricate n-well MOSFET. The fabrication process of n-well MOSFET started with the establishment of process flow, proc...
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In this paper, the design of the quarter car fuzzy logic control (FLC) for passive suspension model has been done. The quarter car model is identified using intelligent system identification and assumed has NARX model...
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In this paper, the design of the quarter car fuzzy logic control (FLC) for passive suspension model has been done. The quarter car model is identified using intelligent system identification and assumed has NARX model. The car input output data are collected in experiment by driving car on special road event. The result shows that the fuzzy logic controller is suitable for eliminating road surface disturbances to the suspension system.
This paper presents theoretical investigations into the dynamic characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system, in...
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This paper presents theoretical investigations into the dynamic characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system, incorporating structural damping and hub inertia, is developed using finite element method. Simulation exercises are performed with bang-bang input torque applied to the actuator. The simulation algorithm thus developed is implemented in Matlab. To study the effects of length on the response of the flexible manipulator, the results are evaluated with varying beampsilas length in the algorithm. Simulation results are presented in time and frequency domains. Performance of the algorithm in describing the dynamic behaviour of the system is examined in terms of level of vibration frequencies and time response specifications. Finally, a comparative assessment of different beampsilas length to the system performance is assessed and discussed.
This paper presents an intelligent system identification using multilayer perceptron neural network algorithm for an axis car passive suspension model. Nonlinear autoregressive with exogenous input (NARX) model were a...
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This paper presents an intelligent system identification using multilayer perceptron neural network algorithm for an axis car passive suspension model. Nonlinear autoregressive with exogenous input (NARX) model were assumed for the system in order to determine the multilayer perceptron neural network structure. The intelligent system identification constructed for NARX model used real input output data acquired by driving a car on a special road event. The results show that the method proposed is suitable for modeling a quarter car passive suspension systems.
This paper deals with modeling and control of a nonlinear horizontal active magnetic bearing (AMB) system via current control scheme. The gyroscopic effect and mass imbalance inherited in the system are proportional t...
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This paper deals with modeling and control of a nonlinear horizontal active magnetic bearing (AMB) system via current control scheme. The gyroscopic effect and mass imbalance inherited in the system are proportional to the rotor speed in which these nonlinearities cause high system instability as the rotational speed increases. In order to synthesize a robust controller that can stabilize the system under a wide range of rotational speed, the dynamic AMB model is transformed into a deterministic model to form a class of uncertain system. Then, based on Sliding Mode Control (SMC) theory and Lyapunov method, a new robust controller that stabilizes the system is proposed wherein the Linear Quadratic Regulator (LQR) is used to design the sliding surface. Under this control, the reaching condition is guaranteed and the closed loop system is stable. The performance of the controller applied to the AMB model is demonstrated through simulation works under various rotational speeds and system conditions.
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