Analysis of Robust Control Method for Single Link Flexible Manipulator

摘要

Robot operation in recent years has revolutionized the world, especially industries, due to its numerous applications. Therefore, designing system elements like controllers, observers, and simulators requires a robust model. A robot whose link flexibility significantly influences the joint parameters or tip position is known as a flexible-link manipulator (FLM). This led to an error in the manipulator's operation. In this paper, a Robust Control Technique using a Model Predictive Controller was developed to simulate a Single-Link Flexible Manipulator (SLFM) to attenuate the effect of oscillation (vibration) on the FLM as it rotates, also based on the literature results using PID, FSFB, and LQR control techniques, all results were fine-tuned to investigate their robustness. The result described how a multi-variable robust controller (MPC) handled the SLFM constraints and achieved a quick response in less than a second as compared to the three other control techniques applied.