Intelligent proportional-integral (iPI) control of a single link flexible joint manipulator


Agee J. T. , Kizir S. , Bingül Z.

JOURNAL OF VIBRATION AND CONTROL, vol.21, pp.2273-2288, 2015 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 21
  • Publication Date: 2015
  • Doi Number: 10.1177/1077546313510729
  • Title of Journal : JOURNAL OF VIBRATION AND CONTROL
  • Page Numbers: pp.2273-2288
  • Keywords: Flexible-joint manipulator, intelligent PI control, PI control, PID control, trajectory tracking, FUZZY-LOGIC CONTROL, FEEDBACK-CONTROL, DESIGN

Abstract

This paper presents the design, stability analysis and experimental validation of a computationally non-intensive, model-free, intelligent proportional-integral (iPI) controller for flexible joint manipulators. In order to show the performance of the iPI controller, it is compared with classical proportional-integral and proportional-integral-derivative controllers. Based on this comparison, the iPI-controlled system achieved a better than 60% tracking accuracy for both kane trajectory and sine input tracking. The iPI controller also significantly reduced transient swings in the flexible joint of the manipulator, when tracking a train of pulses. Moreover, the iPI controlled system successfully eliminated both disturbances and noise effects from the dynamics of the manipulator.