@inproceedings{ee0f90b434644a58880c7e1ca729b4ea,
title = "Robustness of hybrid learning acceleration feedback control scheme in flexible manipulators",
abstract = "This paper describes a practical approach to design and develop a hybrid learning with acceleration feedback control (HLC) scheme for input tracking and end-point vibration suppression of flexible manipulator systems. Initially, a collocated proportional-derivative (PD) control scheme using hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a further hybrid control scheme of the collocated PD control and iterative learning control with acceleration feedback using genetic algorithms (GAs) to optimize the learning parameters. Experimental results of the response of the manipulator with the control schemes are presented in the time and frequency domains. The performance of the HLC is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various payloads. COPYRIGHT",
keywords = "Flexible manipulator, Iterative learning control, Vibration suppression",
author = "{Md Zain}, {M. Z.} and Tokhi, {M. O.} and Alam, {M. S.}",
year = "2005",
language = "English",
isbn = "9759845857",
series = "Proceedings - Wec 05: Fourth World Enformatika Conference",
pages = "143--146",
editor = "C. Ardil",
booktitle = "Proceedings - Wec 05",
note = "Wec 05: Fourth World Enformatika Conference ; Conference date: 24-06-2005 Through 26-06-2005",
}