Boundary control for a constrained two-link rigid–flexible manipulator with prescribed performance

Cao, Fangfei; Liu, Jinkun

doi:10.1080/00207179.2017.1305513

Cited by 31 publications

(26 citation statements)

References 27 publications

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“…In this paper, we will study the optimal control problem for a two‐link rigid‐flexible manipulator. Other work about two‐link rigid‐flexible manipulator we have also done can see . In, the output tracking errors can converge to a predefined arbitrarily small residual set and the convergence rates are no less than a certain pre‐specified value.…”

Section: Introductionmentioning

confidence: 92%

“…Other work about two-link rigid-flexible manipulator we have also done can see. 26,27 In, 26 the output tracking errors can converge to a predefined arbitrarily small residual set and the convergence rates are no less than a certain pre-specified value. In, 27 we propose an adaptive boundary iterative learning control scheme for the manipulator with parametric uncertainties when performing repetitive tasks.…”

Section: Introductionmentioning

confidence: 99%

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Optimal trajectory control for a two‐link rigid‐flexible manipulator with ODE‐PDE model

Cao

Liu

2018

Optim Control Appl Methods

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Summary In this paper, the optimal trajectory control problem for a two‐link rigid‐flexible manipulator is considered. Since the two‐link rigid‐flexible system is a distributed system, an ordinary differential equation and partial differential equation (ODE‐PDE) dynamic model of the manipulator is established by Hamilton's principle. Based on the ODE‐PDE model, an optimal trajectory controller is proposed in this paper, which includes 2 stages. In the first stage, the optimal trajectory is created by using the differential evolution algorithm. Energy consumption and deflection of the flexible link are chosen as performance indexes. Cubic spline interpolation is applied to obtain the continuous trajectory. In the second stage, the aim is to regulate 2 joints to follow the optimal trajectory and simultaneously suppress vibration of the flexible link. To achieve it, boundary control laws are designed and the stability analysis is given. In simulations, the effectiveness of the optimal controller is verified by MATLAB.

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Section: Introductionmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 99%

Optimal trajectory control for a two‐link rigid‐flexible manipulator with ODE‐PDE model

Cao

Liu

2018

Optim Control Appl Methods

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“…Our previous works are for a planar two‐link rigid‐flexible manipulator. Compared with the planar one, the 3D manipulator system can achieve a wider operating space and has a broader application.…”

Section: Introductionmentioning

confidence: 99%

Partial differential equation modeling and vibration control for a nonlinear 3D rigid‐flexible manipulator system with actuator faults

Cao

Liu

2019

Intl J Robust & Nonlinear

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In this paper, modeling and controlling problem for a two-link rigid-flexible manipulator in three-dimensional (3D) space is studied under actuator faults. For modeling, the dynamics of the 3D mechanical system is represented by nonlinear partial differential equations, which is first derived in infinite dimension form. Based on the nonlinear model, the controller is proposed, which can achieve joint angle control and vibration suppression control in the presence of actuator faults. The stability analysis of the closed-loop system is given based on LaSalle invariance principle. Numerical simulations illustrate the effectiveness of the proposed controller. This study will promote the development of nonlinear flexible manipulator systems in 3D space. KEYWORDS actuator faults, nonlinear PDE model, two-link rigid-flexible manipulator, 3D space Int J Robust Nonlinear Control. 2019;29:3793-3807.wileyonlinelibrary.com/journal/rnc

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“…From a modelling standpoint, additional unactuated degree-of-freedom (DOF) are generally associated to each compliant body employing a range of different methods. Notable approaches include: the pseudo-rigid-body-model (PRBM) [5,6] is widely used for kineto-static analysis; continuous models of flexible links for force and vibration control were proposed in [7][8][9][10]; a constrained Hamiltonian formulation [11] and a constrained Euler-Lagrange formulation [12] were recently employed with continuous models for the case of large deformations. In summary, flexible mechanisms are typically underactuated since they possess more DOF than actuators.…”

Section: Introductionmentioning

confidence: 99%

“…Differently from [7][8][9][10], this work investigates the robust balancing control of systems consisting of an underactuated inverted-pendulum mounted on an actuated cart. Additionally, a continuous model of the flexible pendulum [12] is compared with the corresponding PRBM for the purpose of closed-loop control.…”

Section: Introductionmentioning

confidence: 99%

Robust balancing control of flexible inverted-pendulum systems

Franco

Astolfi

Baena

2018

Mechanism and Machine Theory

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This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart.

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Boundary control for a constrained two-link rigid–flexible manipulator with prescribed performance

Cited by 31 publications

References 27 publications

Optimal trajectory control for a two‐link rigid‐flexible manipulator with ODE‐PDE model

Optimal trajectory control for a two‐link rigid‐flexible manipulator with ODE‐PDE model

Partial differential equation modeling and vibration control for a nonlinear 3D rigid‐flexible manipulator system with actuator faults

Robust balancing control of flexible inverted-pendulum systems

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