Moh. Khairudin
Unpredictable and difficult to solve the problems in control of a one-link flexible manipulator and it becomes more efforts with increasing payload at the tip end of link. The model of one-link flexible manipulator was derived using a finite element method. This study presents comparison control schemes for vibration control of a one-link flexible manipulator. The control schemes, namely pole placement (PPC), linear matrix inequality (LMI) and linear quadratic regulator (LQR) controllers. The controller schemes are through proportional gain. Comparison performances of control schemes are profiled in the aspects of the capability of input tracking for the hub angle position and deflection responses of one-link flexible manipulator. A laboratory-scaled experiment of one-link flexible manipulator were conducted to validate the simulation works. The responses of the system are delivered in the time and frequency domains. Furthermore, the effects of payload on the responses with comparison control schemes are presented with PPC controller performs better than LMI and LQR. The PPC controller provides zero overshoot and faster settling time compared to two others. With only one gain of PPC can cover the vibration profiles for various payload condition with the performances smoother contrasted to two others. A close agreement between simulation and experimental works on the results shows the proposed controller performs an applicable accuracy of the controller scheme. © 2021, Brazilian Society for Automatics--SBA.
Department of Electrical Engineering, Universitas Negeri Yogyakarta, Yogyakarta, 55281, Indonesia
