Adaptive actuator fault compensation control for a rigid-flexible manipulator with ODEs-PDEs model

Cao, Fangfei; Liu, Jinkun

doi:10.1080/00207721.2018.1479002

Cited by 28 publications

(17 citation statements)

References 26 publications

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“…Through a series of variational operations, the governing equations of the rigid‐flexible manipulator can be obtained as 4,5

τ (t) + d_{w} (t) = M (θ (t), ω (ξ, t)) \ddot{θ} (t) + C (θ (t), \dot{ω} (ξ, t)) \dot{θ} (t) + G (θ (t), \dot{θ} (t), \dot{ω} (ξ, t), \ddot{ω} (ξ, t)),

for

ξ \in [0, l_{2}]

and t ∈ [0, T ].

τ (t) \in ℝ^{2}

represents input torque,

θ (t) \in ℝ^{2}

denotes the angular position.…”

Section: Problem Formulation and Control Objectivesmentioning

confidence: 99%

“…In the manipulators' structure, the utilization of a rigid‐flexible body has received considerable attention in recent years. Due to the feature of flexible movement and strong versatility, a two‐link rigid‐flexible manipulator has triggered a great interest in the control domain 1‐5 …”

Section: Introductionmentioning

confidence: 99%

“…For the sake of flexible structure nature, the control of a rigid‐flexible manipulator needs to suppress the mechanical vibration 1‐3 . At the same time, track the desired position objective is also need to be taken into consideration for the control of the rigid part 4,5 . The flexible structure is usually modeled into distributed parameter systems described by partial differential equation (PDE).…”

Section: Introductionmentioning

confidence: 99%

“…Another boundary output feedback law is proposed to reject general external disturbance for Euler‐Bernoulli beam systems in Reference 9. Although the boundary control has been studied widely for flexible systems, few studies have addressed for a two‐link rigid‐flexible manipulator 4‐6 . To make up the partial loss of actuators effectiveness, an adaptive boundary compensation control for the rigid‐flexible manipulator is studied in Reference 4.…”

Section: Introductionmentioning

confidence: 99%

“…Although the boundary control has been studied widely for flexible systems, few studies have addressed for a two‐link rigid‐flexible manipulator 4‐6 . To make up the partial loss of actuators effectiveness, an adaptive boundary compensation control for the rigid‐flexible manipulator is studied in Reference 4. In Reference 5, through the barrier Lyapunov function (BLF), the boundary controller is employed to eliminate the elastic vibration for a rigid‐flexible manipulator with full state constraints.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Zhou

Wang

Tian

et al. 2020

Adaptive Control & Signal

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Summary In this article, an observer‐based adaptive boundary iterative learning control law is developed for a class of two‐link rigid‐flexible manipulator with input backlash, the unknown external disturbance, and the endpoint constraint. To tackle the backlash nonlinearities and ensure the vibration suppression, the disturbance observers based upon the iterative learning conception are considered in the adaptive boundary control design. A barrier Lyapunov function is incorporated with boundary control law to restrict the endpoint state. Based on the defined barrier composite energy function, the tracking angle error convergence of the rigid part is guaranteed, and the vibrations of the flexible part are suppressed through the rigorous analysis. Finally, a numerical simulation is provided to illustrate the effectiveness of the proposed control.

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“…Through a series of variational operations, the governing equations of the rigid‐flexible manipulator can be obtained as 4,5

τ (t) + d_{w} (t) = M (θ (t), ω (ξ, t)) \ddot{θ} (t) + C (θ (t), \dot{ω} (ξ, t)) \dot{θ} (t) + G (θ (t), \dot{θ} (t), \dot{ω} (ξ, t), \ddot{ω} (ξ, t)),

for

ξ \in [0, l_{2}]

and t ∈ [0, T ].

τ (t) \in ℝ^{2}

represents input torque,

θ (t) \in ℝ^{2}

denotes the angular position.…”

Section: Problem Formulation and Control Objectivesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Zhou

Wang

Tian

et al. 2020

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

Trajectory control and vibration suppression of rigid‐flexible parallel robot based on singular perturbation method

Zheng

Zhang

Zeng

2022

Asian Journal of Control

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To accurately, stably, and efficiently control the complex rigid-flexible coupled robot, this paper takes Delta robot as the study object and decomposes it into slow subsystem and fast subsystem in different timescales by using singular perturbation principle, which the slow subsystem representing the rigid motion and the fast subsystem representing flexible vibration. In addition, the backstepping control system is designed for the slow subsystem, and the dynamic surface control system based on Kobserver is designed for the fast subsystem, and the overall control scheme is proposed by combining the backstepping control system and the dynamic surface control system, and the stability of the proposed overall control scheme is proven. Finally, the proposed control scheme is compared with proportional derivative control and trajectory control with workspace lattices, and the related experimental results are analyzed in details.

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Robust adaptive fault‐tolerant control using RBF‐based neural network for a rigid‐flexible robotic system with unknown control direction

Wang

Zhou

Tian

2021

Intl J Robust & Nonlinear

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In this article, a radial basis function (RBF)-based robust adaptive fault-tolerant control (FTC) is developed for a class of rigid-flexible robotic systems under actuator failures, unknown control direction, and uncertain external disturbances. The dynamics of the rigid-flexible robotic over a vertical plane is governed by the hybrid ordinary differential equations-partial differential equations. The uncertain external disturbance is estimated via an RBF neural network. Meanwhile, the robust adaptive FTC law is utilized to follow the given joint angular and attenuate the vibration of the flexible structure in the case of actuator failures and unknown distributed disturbances. To handle the unknown control direction, the Nussbaum function is employed to robust FTC laws. By virtue of the Lyapunov direct approach, the trajectory tracking and vibration elimination for the controlled rigid-flexible robotic system are proved and uniformly bounded in face of bounded external disturbances and unknown control directions. The efficacy of the developed control strategy is also illustrated via four comparison examples.

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Adaptive actuator fault compensation control for a rigid-flexible manipulator with ODEs-PDEs model

Cited by 28 publications

References 26 publications

Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Trajectory control and vibration suppression of rigid‐flexible parallel robot based on singular perturbation method

Robust adaptive fault‐tolerant control using RBF‐based neural network for a rigid‐flexible robotic system with unknown control direction

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