title: Finite element based model predictive control for active vibration suppression of a one-link flexible manipulator.
abstract: This paper presents a unique approach for active vibration control of a one-link flexible manipulator. The method combines a finite element model of the manipulator and an advanced model predictive controller to suppress vibration at its tip. This hybrid methodology improves significantly over the standard application of a predictive controller for vibration control. The finite element model used in place of standard modelling in the control algorithm provides a more accurate prediction of dynamic behavior, resulting in enhanced control. Closed loop control experiments were performed using the flexible manipulator, instrumented with strain gauges and piezoelectric actuators. In all instances, experimental and simulation results demonstrate that the finite element based predictive controller provides improved active vibration suppression in comparison with using a standard predictive control strategy.
authors: Department of Mechanical Engineering, 15 Dineen Drive, P.O. Box 4400, University of New Brunswick, Fredericton, NB, Canada E3B5A3. Electronic address: dubayr@unb.ca.
authors: Rickey
authors: R
authors: Dubay
authors: School of Engineering, University of Guelph, Guelph, Ontario, Canada N1G 2W1.
authors: Marwan
authors: M
authors: Hassan
authors: Department of Mechanical Engineering, 15 Dineen Drive, P.O. Box 4400, University of New Brunswick, Fredericton, NB, Canada E3B5A3.
authors: Chunying
authors: C
authors: Li
authors: Department of Mechanical Engineering, 15 Dineen Drive, P.O. Box 4400, University of New Brunswick, Fredericton, NB, Canada E3B5A3.
authors: Meaghan
authors: M
authors: Charest
keywords: Active vibration suppression; Finite element model; Flexible manipulator; Model predictive control