CONTROL OF A SINGLE LINK FLEXIBLE MANIPULATOR USING SEQUENCED CONTROL

Abstract

Mechanical systems are subject to various vibrations and disturbances while working. To get rid of such effects certain control systems have been developed. Sequenced control is a technique that utilizes both PID control and input shaping. It uses input shaping to have the system reach the reference point quickly and without causing vibrations and then switches to PID control to allow the system to be protected against disturbances. Because sequenced control uses PID control and input shaping at optimum times it aims to make use of both of their advantages while negating their disadvantages. When done properly, it’s proven to produce better results than the hybrid control techniques which use both input shaping and PID control together. In this study, transfer function of a single link flexible manipulator has been put into a Simulink Model and it has been subjected to step input, zero vibration input shaping, PID control and sequenced control and the system outputs has been compared. Suggestions have been provided to further improve system performance.