Fuzzy Adaptive Compensation Control for Space Manipulator with Joint Flexibility and Dead Zone Based on Neural Network

Shen, Jinmiao; Wenhui, Zhang; Zhou, Shuhua; Ye, Xiaoping

doi:10.1007/s42405-023-00570-y

Cited by 3 publications

(1 citation statement)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As a result, the angle tracking and vibration inhibition of the flexible manipulator have received extensive attention from scholars. Different control laws are proposed to solve this question, for example, PID control [2], adaptive control [3,4], sliding mode control [5,6], neural network control [7], and fuzzy control [8]. However, these traditional control methods are mainly based on with finite-dimensional truncation model described by the ordinary differential equations (ODEs), which ignores some high-frequency modes, leading to model information loss and control spillover problems so as to reduce the control accuracy [9].…”

Section: Introductionmentioning

confidence: 99%

Vibration control of the flexible manipulator with input constraints and external disturbances based on Nussbaum function

Chang,

Niu,

2023

Asian Journal of Control

View full text Add to dashboard Cite

In this paper, a boundary control scheme based on the partial differential equation (PDE) model is proposed for the vibration control problem of the flexible manipulator with input constraints and external disturbances. Based on the backstepping method, two boundary controllers are designed to stabilize the position loop subsystem and the attitude loop subsystem, respectively, and auxiliary systems based on the smooth hyperbolic tangent function and Nussbaum function are designed in the controllers to deal with the input saturation and external disturbances. The Nussbaum function can overcome the difficulties in controller design and stability analysis caused by the derivatives of smooth hyperbolic tangent functions. The well‐posedness of the closed‐loop system is proven by employing the semigroup theory, and the uniformly bounded stability is proved by Lyapunov direct method. Finally, the performance of the proposed control laws is verified by numerical simulations.

show abstract