Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints

doi:10.1007/s11431-017-9280-1

	Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints
	Yang HongJun1,2 ; Liu JinKun 2; He Wei 3
刊名	SCIENCE CHINA-TECHNOLOGICAL SCIENCES
	2018-10-01
卷号	61 期号:10 页码:1528-1536
关键词	flexible manipulator distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system
ISSN号	1674-7321
DOI	10.1007/s11431-017-9280-1
通讯作者	Liu JinKun(ljk@buaa.edu.cn)
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.
资助项目	National Natural Science Foundation of China[61374048] ; National Natural Science Foundation of China[61703402]
WOS关键词	EULER-BERNOULLI BEAM ; 2-LINK MANIPULATOR ; NONLINEAR-SYSTEMS ; BOUNDARY CONTROL ; DYNAMIC-MODEL ; DESIGN ; STABILIZATION ; EQUATION ; ROBOT
WOS研究方向	Engineering ; Materials Science
语种	英语
出版者	SCIENCE PRESS
WOS记录号	WOS:000446517900008
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/28144]
专题	中国科学院自动化研究所
通讯作者	Liu JinKun
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
推荐引用方式 GB/T 7714	Yang HongJun,Liu JinKun,He Wei. 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	Yang HongJun,Liu JinKun,&He Wei.(2018).Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,61(10),1528-1536.
MLA	Yang HongJun,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.