文献类型：期刊文献

英文题名：Adaptive residual vibration suppression of a rigid-flexible coupled system through a hybrid shaping design

作者：Tong, Shiwen[1]; Yan, Xiaoyu[2]; Fang, Jianjun[3]

第一作者：佟世文

通讯作者：Tong, Shiwen

机构：[1] College of Robotics, Beijing Union University, Beijing, China; [2] Graduate School, Beijing Union University, Beijing, China; [3] College of Urban Rail Transit and Logistics, Beijing Union University, Beijing, China

第一机构：北京联合大学机器人学院

年份：2018

起止页码：109-131

外文期刊名：Adaptive Control: Methods, Applications and Research

收录：EI(收录号：20190906576477)

语种：英文

外文关键词：Computer control systems - Fuzzy clustering - Genetic algorithms - Navigation - Numerical methods

摘要：The picking manipulator for the tomato's string, as a rigid-flexible coupled system, has attracted great attention in recent years. However, one of the biggest limitations to the application is the residual vibration. This paper has proposed a new hybrid residual vibration suppression technology. First, a reference trajectory to be suppressed is designed by analysis of the ideal reference trajectory, the original output of the process and the physical feasibility. Then the input shaper is obtained by using a fuzzy cluster inverse model. To improve the control performance, a closed-loop compensator is designed. These two signals are jointly added to the original control action. Numerical simulation demonstrates the good performance of the proposed method. To further improve the control performance, an adaptive input shaper based on the genetic algorithm has also been designed. ? 2018 Nova Science Publishers, Inc. All rights reserved.