Adaptive Gain Tuning Feedback Control of a Flexible Manipulator
Authors
Minoru Sasaki, Toshifumi Kojima, Kojiro Matsushita, Satoshi Ito, Titus Mulembo, IlhamdiMuhammad Rusydi
Corresponding Author
Minoru Sasaki
Available Online June 2017.
- DOI
- 10.2991/caai-17.2017.128How to use a DOI?
- Keywords
- adaptive gain tuning control; flexible manipulator; feedback control; vibration control; MapleSimTM
- Abstract
This paper presents vibration control of a flexible manipulator by an adaptive direct strain gain tuning feedback control. Adaptive feedback gain tuning is applied on the measured strain. These experiments compared the control performance of fixed and adaptive feedback gain control. Results show that adaptive feedback gain control has better performance in vibration control than the fixed feedback gain control.
- Copyright
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Minoru Sasaki AU - Toshifumi Kojima AU - Kojiro Matsushita AU - Satoshi Ito AU - Titus Mulembo AU - IlhamdiMuhammad Rusydi PY - 2017/06 DA - 2017/06 TI - Adaptive Gain Tuning Feedback Control of a Flexible Manipulator BT - Proceedings of the 2017 2nd International Conference on Control, Automation and Artificial Intelligence (CAAI 2017) PB - Atlantis Press SP - 575 EP - 580 SN - 1951-6851 UR - https://doi.org/10.2991/caai-17.2017.128 DO - 10.2991/caai-17.2017.128 ID - Sasaki2017/06 ER -