Active vibrational control of flexible manipulator using filtered-X LMS algorithm

Abstract

This paper describes the vibration control of a flexible manipulator using Filtered-x LMS algorithm. In this study adaptive notch filter is applied to the vibration control of a flexible manipulator model. The adaptive notch filter is designed to estimate multiple vibration mode frequencies of the flexible manipulator and to minimize the effect of vibration. The filtered-x LMS algorithm is applied to make the root strain error and the system input as close to minimization as possible. In the process, the adaptive notch filter learns to eliminate the resonant vibration frequencies of the system. The experimental results show that this presented adaptive notch filter system can suppress the vibration of the flexible manipulator and track the desired joint angles.