Citation

Alandoli, Esmail Ali and Lee, Tian Soon and My, Chu A. and Mohammed, Marwan Qaid (2021) Robust P-H∞Integrated Controller for Flexible Link Manipulator System in the Presence of Disturbance. Journal of Applied and Computational Mechanics, 7 (2). pp. 646-654. ISSN 2383-4536

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Abstract

Flexible link manipulators have recently high attention in research due to the numerous advantages over traditional manipulators. However, flexible link manipulators still have critical problem of less position accuracy due to the tip vibration. Thus, this research contributes by developing a robust P-H∞ integrated controller for a flexible link manipulator (FLM). The P-H∞ integrated controller is a combination of Proportional (p ) controller and H∞ controller which helps of possession several advantages such as optimal position tracking, effective vibration repression, and robust to reject disturbances. The proposed P-H∞ integrated controller has been simulated to control the FLM system using MATLAB/Simulink toolbox. The results have demonstrated satisfactory performance of the proposed P-H∞ integrated controller in terms of position tracking, vibration repression, and disturbance rejection.

Item Type:	Article
Uncontrolled Keywords:	Manipulators (Mechanism)
Subjects:	T Technology > T Technology (General)
Divisions:	Faculty of Engineering and Technology (FET)
Depositing User:	Ms Nurul Iqtiani Ahmad
Date Deposited:	28 Apr 2021 17:25
Last Modified:	28 Apr 2021 17:25
URII:	http://shdl.mmu.edu.my/id/eprint/8650

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