Boundary vibration control for a flexible Timoshenko robotic manipulator

He, Xiuyu; He, Wei; Qin, Hui; Sun, Changyin

doi:10.1049/iet-cta.2017.1017

Cited by 32 publications

(11 citation statements)

References 43 publications

(45 reference statements)

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“…However, to the best of our knowledge, all the existing PDE models of flexible manipulators in other works are established based on the assumption that the initial point of the arm is motionless and the dynamics of the mobile carrier is thus neglected, which greatly simplifies the design of control laws. However, neglecting the movement of the mobile carrier will reduce the operation range of flexible links and limit the application range of the designed control schemes.…”

Section: Introductionmentioning

confidence: 99%

“…In comparison with ODE models, PDE models can accurately describe the dynamic characters of flexible manipulators and increase the precision of the proposed controllers by preserving all modal information of the system. However, to the best of our knowledge, all the existing PDE models of flexible manipulators in other works [17][18][19][20] are established based on the assumption that the initial point of the arm is motionless and the dynamics of the mobile carrier is thus neglected, which greatly simplifies the design of control laws. However, neglecting the movement of the mobile carrier will reduce the operation range of flexible links and limit the application range of the designed control schemes.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and robust adaptive iterative learning control of a vehicle‐based flexible manipulator with uncertainties

Xing

Liu

2019

Intl J Robust & Nonlinear

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Summary In this brief, this paper deals with a robust adaptive iterative learning control (ILC) problem for a flexible manipulator attached to a moving vehicle with uncertainties. To begin with, considering the infinite dimensionality of the flexible distributed parameter system, a coupled ordinary differential equation and partial differential equation model is established without any discretization. Then, it is followed by a presentation of an adaptive ILC strategy, which can drive the vehicle and joint to the desired positions based on a proportional‐derivative feedback structure with unmodeled dynamics and external disturbances. The deformation of the flexible manipulator can also be suppressed simultaneously under the proposed control laws. By using Lyapunov's direct method, the stability of the closed‐loop system is demonstrated. The simulation results are provided to illustrate the effectiveness of the proposed control laws.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and robust adaptive iterative learning control of a vehicle‐based flexible manipulator with uncertainties

Xing

Liu

2019

Intl J Robust & Nonlinear

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“…There are many studies about the control of the flexible structures based on the hybrid PDE-ODE model [9][10][11][12][13][14][15][16][17][18][19]. However, these studies have been treated only the vibration suppression problem.…”

Section: Introductionmentioning

confidence: 99%

Exponential stability of dual flexible arms for grasping and orientation control

Endo

Umemoto

Matsuno

2019

IET Control Theory & Applications

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This paper studies the stability of two one-link flexible arms for grasping and orientation control of an object. Flexible arms are modeled by Euler-Bernoulli beam model, and the overall system is represented by a hybrid PDE-ODE model. Our primary concern is the stability analysis of this hybrid PDE-ODE model. In particular, we use the frequency domain method and prove the exponential stability of this system under our previously proposed boundary controller. In addition, we discuss the robustness of the closed-loop system with respect to the several disturbances including disturbances distributed over the arms and disturbances acting at boundaries. Finally, simulation results are presented to investigate the theoretical results.

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“…It will be a more sophisticated and challenging problem to consider the nonlinear coupling of elastic deflection, shear deformation, and angular position in the control. For those cases, the control design is documented in [20,21] to suppress the vibration and rotation of the system. In [20], for the flexible manipulator modeled as the Timoshenko beam, the boundary controllers are designed to eliminate the vibration and rotation of the system under external disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…For those cases, the control design is documented in [20,21] to suppress the vibration and rotation of the system. In [20], for the flexible manipulator modeled as the Timoshenko beam, the boundary controllers are designed to eliminate the vibration and rotation of the system under external disturbances. However, in the aforesaid papers, there is no research taking into account the case that the parameters of the system and time-varying disturbances are unknown, which motivates us for this research.…”

Section: Introductionmentioning

confidence: 99%

Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator

Zhang

2018

Complexity

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In this study, we aim to construct the boundary robust adaptive control for weakening the vibration of the flexible Timoshenko manipulator in the presence of unknown disturbances. By Lyapunov’s direct method, the adaptive controllers and disturbance observers are exploited to achieve the angle tracking and handle the external disturbances. With the suggested adaptive laws and disturbance observers, the controlled system with both parametric and disturbance uncertainties is guaranteed to be uniformly bounded. Finally, simulation results are provided to illustrate the applicability and effectiveness of the proposed control.

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Boundary vibration control for a flexible Timoshenko robotic manipulator

Cited by 32 publications

References 43 publications

Modeling and robust adaptive iterative learning control of a vehicle‐based flexible manipulator with uncertainties

Modeling and robust adaptive iterative learning control of a vehicle‐based flexible manipulator with uncertainties

Exponential stability of dual flexible arms for grasping and orientation control

Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator

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