Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment

Endo, Takahiro; Sasaki, Minoru; Matsuno, Fumitoshi; Jia, Yingmin

doi:10.1109/tac.2016.2599434

Cited by 47 publications

(30 citation statements)

References 28 publications

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“…Theorem 1: For the OTEC system (9)- (12), with the bounded initial conditions and boundary controls (13)- (19), the following conclusions can be obtained:…”

Section: Construct the Lyapunov Candidate Function Asmentioning

confidence: 92%

See 1 more Smart Citation

Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System

Liu

et al. 2020

IEEE Trans. Syst. Man Cybern, Syst.

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Boundary control strategy is developed to analyze the vibration problem of the offshore ocean thermal energy conversion (OTEC) system as well as to constrain the bottom tension and top motion. To provide an accurate dynamic behavior for the OTEC system, this distributed parameter system is modeled and formulated with a governing equation and boundary conditions (PDE-ODEs model). Two robust adaptive boundary controllers are designed and disposed at the endpoints of the system, and the stability of the controlled system under unknown disturbances is achieved. After selecting the relevant parameters appropriately, the offset of the offshore OTEC system can be suppressed to equilibrium position. Finally, the effectiveness of the proposed control is illustrated by simulation.

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“…Theorem 1: For the OTEC system (9)- (12), with the bounded initial conditions and boundary controls (13)- (19), the following conclusions can be obtained:…”

Section: Construct the Lyapunov Candidate Function Asmentioning

confidence: 92%

“…It will weaken the performance of the OTEC system, even destroy this flexible structure. Recent researches about the flexible structures have been developed [17], [18], [19], [20], [21]. In [22], the authors studied the vibration problem and the stochastic disturbances for a flexible marine riser system.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System

Liu

et al. 2020

IEEE Trans. Syst. Man Cybern, Syst.

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show abstract

“…Endo et al [10]- [12] used a simple boundary feedback controller consisting of a bending moment at the base of a flexible arm, and its time derivative, and implemented an analytical model for the force control problem for a constrained flexible arm. The exponential stability of the closed-loop system using this simple feedback control was analytically demonstrated therein.…”

Section: Introductionmentioning

confidence: 99%

Contact Force Control of Three-Dimensional Flexible Manipulator

Sasaki¹,

S²,

Maeno³

et al. 2020

Preprint

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This paper proposes a contact force controller for a constrained flexible manipulator in three-dimensional motion. This controller used the conversion formula obtained empirically and experimental results showed the effectiveness of the proposed contact force controller. First, the manipulator was operated with the tip of the second link restrained, then, time response of the root strain, joint angles and contact force were used to derive the relational between the three quantities. The effectiveness of the relational expression was verified by conducting a target contact force tracking experiment by inputting the angle from the relational expression. The contact force control using the strain feedback method was proposed with the strain amount estimated from the target contact force as the target value, and its effectiveness was verified by experiments. From the results obtained, controller using the strain feedback method was designed for the purpose of controlling the contact force at the tip of a flexible manipulator with two links and three degrees of freedom that performs three-dimensional spatial motion, and its effectiveness was shown by comparison with the contact force feedback method.

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“…Endo et al. dedicated to research on the contact‐force control for Timoshenko beam and showed us several difference controllers .…”

Section: Introductionmentioning

confidence: 99%

“…He et al discussed the design of boundary controller for Timoshenko beam and some flexible beams under input and output constraints [22][23][24][25][26]. Endo et al dedicated to research on the contact-force control for Timoshenko beam and showed us several difference controllers [27,28].…”

Section: Introductionmentioning

confidence: 99%

Stabilization of a Timoshenko Beam With Disturbance Observer‐Based Time Varying Boundary Controls

Liu

Shang

2017

Asian Journal of Control

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This paper is concerned with the boundary feedback stabilization for a Timoshenko beam with external disturbances in the boundary inputs. Based on the idea of active disturbance rejection controls, extended state observers with the time‐varying gains are designed to estimate disturbances and then a control strategy is presented by canceling the disturbances via the feedback channels. The well‐posedness of the resulting closed‐loop system is proved by the dual theory and admissibility theory, and the relationship between the stability and the disturbance is interpreted by Lyapunov's second method. At the end, the numerical experiment illustrate the effectiveness of the proposed control strategy.

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Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment

Cited by 47 publications

References 28 publications

Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System

Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System

Contact Force Control of Three-Dimensional Flexible Manipulator

Stabilization of a Timoshenko Beam With Disturbance Observer‐Based Time Varying Boundary Controls

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