Hybrid iterative learning control of a flexible manipulator

• Main Authors: Zain, M Z M, Tokhi, M O, Mohamed, Z, Mailah, M
• Format: Article
• Language: English
• Published: 2004
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/517/1/zarhamdy_IASTED2004.pdf; http://eprints.utm.my/id/eprint/517/

This paper presents an investigation into the development of a hybrid control scheme with iterative learning for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the system is derived using the finite element method. Initially, a collocated pr...