Finite element based model predictive control for active vibration suppression of a one-link flexible manipulator

Area of Science:

• Robotics
• Control Engineering
• Mechanical Engineering

Background:

• Flexible manipulators exhibit vibrations that degrade performance.
• Traditional control methods struggle to accurately predict and suppress these vibrations.
• Model predictive control (MPC) offers advanced predictive capabilities.

Purpose of the Study:

• To develop and evaluate a novel active vibration control strategy for a one-link flexible manipulator.
• To enhance control accuracy by integrating a finite element model (FEM) with MPC.
• To demonstrate the superiority of the proposed FEM-based MPC over standard MPC for vibration suppression.

Main Methods:

• A finite element model (FEM) of the one-link flexible manipulator was developed.
• The FEM was integrated into an advanced model predictive controller (MPC).
• Closed-loop control experiments were conducted using strain gauges and piezoelectric actuators.

Main Results:

• The FEM-based MPC provided more accurate predictions of the manipulator's dynamic behavior.
• Experimental and simulation results confirmed enhanced active vibration suppression.
• The proposed hybrid methodology significantly outperformed standard MPC strategies.

Conclusions:

• Integrating FEM with MPC offers a significant improvement for active vibration control.
• This hybrid approach enhances prediction accuracy and vibration suppression effectiveness.
• The FEM-based MPC is a promising strategy for controlling flexible robotic systems.