Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints | |
Hongjun Yang1; Jinkun Liu2; Wei He3 | |
刊名 | Science China-Technological Sciences |
2018 | |
卷号 | 61期号:10页码:1528-1536 |
关键词 | Flexible Manipulator Partial Differential Equation Output Constraint Distributed Vibration Control Disturbance Observer |
英文摘要 | The issue of output constraints is studied for a flexible-link manipulator in the presence of unknown spatially distributed disturbances. The manipulator can be taken as an Euler-Bernoulli beam and its dynamic is expressed by partial differential equations. On account of the uncertainty of disturbances, we present a disturbance observer to estimate infinite dimensional disturbances on the beam. The observer is proven exponentially stable. Considering the problem of output constraints in the practical engineering, we propose a novel distributed vibration controller based on the disturbance observer to fulfill the position regulation of the joint angle and suppress elastic deflections on the flexible link, while confining the regulating errors of output in a suitable scope that we can assign. The closed-loop system is demonstrated exponentially stable based on an integral-barrier Lyapunov function. Simulations validate the effectiveness of the design scheme. |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/25793] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
通讯作者 | Jinkun Liu |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.Beihang University 3.University of Science and Technology Beijing |
推荐引用方式 GB/T 7714 | Hongjun Yang,Jinkun Liu,Wei He. Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints[J]. Science China-Technological Sciences,2018,61(10):1528-1536. |
APA | Hongjun Yang,Jinkun Liu,&Wei He.(2018).Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints.Science China-Technological Sciences,61(10),1528-1536. |
MLA | Hongjun Yang,et al."Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints".Science China-Technological Sciences 61.10(2018):1528-1536. |
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