Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation

Ma, Junteng; Jin, Dongping; Wei, Zhengtao; Chen, Ti; Wen, Hao

doi:10.1155/2018/2086424

Cited by 5 publications

(4 citation statements)

References 26 publications

(26 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The second approach uses a beam-element-based finite element model to simulate the screw. This new approach uses a more efficient and concise model description than the previous one [52][53][54]. In addition, the joint surface of the transmitting coupling is designed to characterize the screw-to-table motion, vibration, and force transfer process, which makes it a crucial component of the ball screw's hybrid modeling method.…”

Section: Hybrid Modeling Methods On Tbsfsmentioning

confidence: 99%

Analysis of Dual-Driven Feed System Vibration Characteristics Based on Computer Numerical Control Machine Tools: A Systematic Review

Chantal,

Lu,

Liu

et al. 2023

Symmetry

View full text Add to dashboard Cite

Vibration in state-of-the-art machining impacts accuracy by diminishing the machine’s dynamic precision and the workpiece surface quality. The dependability of the cutters and productivity becomes a severe problem for optimizing the computer numerical control machine tools’ (CNCMT) efficiency. Therefore, investigating the twin ball screw drive system vibration properties as well as its corresponding control measures is vital. This paper thoroughly reviews the recent works on methods of analyzing and controlling vibration for dual-driven feed systems (DDFS). The research on vibration control technologies, parameter identification, and system modeling are identified and summarized; the merits and drawbacks of various methods are discussed for comparative purposes. Furthermore, the asymmetrical relation between DDFS and single-driven feed systems are thoroughly discussed based on their dynamic properties. Finally, based on existing studies, related research prospects are described systematically, and these research directions are sure to markedly contribute to developing methods for dampening vibrations on DDFS of CNCMT.

show abstract

Section: Hybrid Modeling Methods On Tbsfsmentioning

confidence: 99%

Analysis of Dual-Driven Feed System Vibration Characteristics Based on Computer Numerical Control Machine Tools: A Systematic Review

Chantal,

Lu,

Liu

et al. 2023

Symmetry

View full text Add to dashboard Cite

show abstract

“…Considering the infinite number of degree of freedom for flexible manipulators, the extended Hamilton principle can be written as [23] 4) into (5) holds:…”

Section: Figure 1 Schematic Of Single-link Flexible Manipulatormentioning

confidence: 99%

Hybrid Sliding Mode/H-Infinity Control Approach for Uncertain Flexible Manipulators

Kharabian

Mirinejad

2020

IEEE Access

View full text Add to dashboard Cite

In this paper, a hybrid control approach combining sliding mode and H-infinity is proposed for an uncertain single-link flexible manipulator. The sliding mode controller stabilizes the nonlinear manipulator system, while the H-infinity controller enhances the noise rejection capability of the system by reducing the total system nonlinearity. The proposed hybrid controller is designed with the goal of rejecting external noises, hence providing a higher system performance, compared to a pure sliding mode controller. To avoid unintentional consequences of switching between the sliding mode and H-infinity controller, a fuzzy neural network weighting method is designed providing a smooth synthesis of both controller outputs. The neuro-fuzzy method applies a weighted combination of the two controller outputs to the manipulator system. In addition, a novel fuzzy estimation method is used to characterize the unstructured nonlinear disturbances in manipulator systems. The proposed hybrid control approach along with the fuzzy estimator is capable of providing a versatile means to stabilize flexible manipulator systems while maintaining a precise reference trajectory tracking in presence of unstructured uncertainty and nonlinear dynamics, as demonstrated by simulation results.

show abstract

“…This kind of disturbance is studied in Ma et al, 29 Su et al, 30 and rejected by the high-order disturbance observer. Hence, the disturbance described in the system (6) widely appears in the practical system.…”

Section: Helicopter Linear Dynamic Modelmentioning

confidence: 99%

Tracking control for the helicopter with time-varying disturbance and input stochastic perturbation

Wang

2019

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

In this paper, the tracking control problem is investigated for the helicopter under time-varying disturbance, input stochastic perturbation, and unmeasurable flapping motion states. Firstly, a state observer and a disturbance observer are constructed to estimate the unmeasurable states and the time-varying disturbance, and the estimation of the disturbance is used in the feedforward controller design. Secondly, under the input stochastic perturbation, a feedback controller is constructed to guarantee the stochastic stability of the closed-loop error system. Using the stochastic control theory and the linear matrix inequality technique, the stability of the closed-loop error system is analyzed, and the gain of the controller is acquired via a solvable sufficient condition. Finally, an example is presented to illustrate the effectiveness of the proposed method.

show abstract

Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation

Cited by 5 publications

References 26 publications

Analysis of Dual-Driven Feed System Vibration Characteristics Based on Computer Numerical Control Machine Tools: A Systematic Review

Analysis of Dual-Driven Feed System Vibration Characteristics Based on Computer Numerical Control Machine Tools: A Systematic Review

Hybrid Sliding Mode/H-Infinity Control Approach for Uncertain Flexible Manipulators

Tracking control for the helicopter with time-varying disturbance and input stochastic perturbation

Contact Info

Product

Resources

About