Observer-based boundary control for an asymmetric output-constrained flexible robotic manipulator

Liu, Yu; Chen, Xiongbin; Mei, Yanfang; Wu, Yilin

doi:10.1007/s11432-019-2893-y

Cited by 105 publications

(31 citation statements)

References 8 publications

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“…For the problem of vibration suppression of distributed parameter systems, several researchers have proposed various control methods including the modal reduction method [22] and boundary control [23][24][25][26][27][28][29]. e modal reduction method can effectively reduce the order of the infinite-dimensional system and treat the system as a finite dimension, but this method can easily cause spillover effects.…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression of a Coupled Aircraft Wing with Finite-Time Convergence

et al. 2022

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A nonlinear coupled wing model subject to unknown external disturbances is proposed in this paper. Since the model is modeled by partial differential equations, the traditional control design scheme based on the ordinary differential equation model is not applicable, and the control law design becomes very complex. In this paper, a new antidisturbance boundary control scheme based on a finite time convergent disturbance observer is proposed. The control laws are designed based on the new disturbance observers to make the external disturbance errors converge to zero in a finite time and ensure the uniformly bounded stability of the controlled system. Finally, the effectiveness of the controllers and the finite-time convergence of disturbance errors are verified by the simulation and comparison.

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Section: Introductionmentioning

confidence: 99%

Vibration Suppression of a Coupled Aircraft Wing with Finite-Time Convergence

et al. 2022

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“…The advances on the boundary control for flexible Timoshenko arms have been well documented in He et al (2018a), Endo et al (2017a); Liu et al (2022), Endo et al (2017a); Ren et al (2021); Zhao and Liu (2021); Zhao and Liu (2021) and Zhao et al (2021). To effectively regulate the position of the flexible robotic manipulator subject to the asymmetric output constraints, boundary control schemes and DOs are proposed in Liu et al (2022). To deal with the input nonlinearities and model uncertainty problems of the flexible manipulator, a new adaptive neural-network control method is devised in Ren et al (2021).…”

Section: Introductionmentioning

confidence: 99%

Vibration and position tracking control for a flexible Timoshenko robot arm with disturbance rejection mechanism

Yang

Shi

Liu

et al. 2022

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Purpose This paper aims to study the boundary disturbance rejection control design for a flexible Timoshenko robot arm to diminish external disturbances and achieve desired angle tracking, with system vibration and elastic deformation considered. Design/methodology/approach This study introduces disturbance observer and disturbance rejection mechanism into the boundary control design for flexible Timoshenko robot arm systems. The uniform bounded stability of controlled systems is proved via Lyapunov analysis without any simplification of the infinite-dimensional system dynamics. Findings The proposed boundary disturbance rejection control scheme can effectively suppress vibrations and shear deformations, achieve the required angular positioning and reject external disturbances. Numerical simulations developed by the finite difference method are adapted to demonstrate the validity of the designed controller. Originality/value The originality of this study is to design boundary disturbance rejection control to suppress vibrations and shear deformations for the flexible Timoshenko robot arm, thereby improving the performance and control accuracy of the system.

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“…Different from [30–32], we construct a nonlinear observer to observe the NCPS, thereby solving the problem that the attacked states cannot be directly used for control design.…”

Section: Introductionmentioning

confidence: 99%

“…(1) Different from [30][31][32], we construct a nonlinear observer to observe the NCPS, thereby solving the problem that the attacked states cannot be directly used for control design. (2) Different from [33,34], this paper introduces a novel time-varying asymmetric BLF to guarantee the specific constraints of output signal for NCPS under false data injection attacks.…”

Section: Introductionmentioning

confidence: 99%

“…This paper proposes an adaptive NN controller for NCPS under false data injection attacks to achieve the specific constraint on output signal. The contribution points of this paper are as follows: Different from [30–32], we construct a nonlinear observer to observe the NCPS, thereby solving the problem that the attacked states cannot be directly used for control design.Different from [33,34], this paper introduces a novel time-varying asymmetric BLF to guarantee the specific constraints of output signal for NCPS under false data injection attacks. The proposed control strategy is more suitable for nonlinear cyber-physical systems with strict constraints, such as human–computer interaction systems [12].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive neural network control for nonlinear cyber-physical systems subject to false data injection attacks with prescribed performance

Liu

Tang

Zhao

et al. 2021

Phil. Trans. R. Soc. A.

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Cyber-physical systems (CPSs), as emerging products of industry 4.0 , play a key role in the development of intelligent manufacturing. This paper proposes an observer-based adaptive neural network (NN) control for nonlinear strict-feedback CPSs subject to false data injection attacks. Since there may be strict constraints on the state or output signals of nonlinear cyber-physical systems (NCPSs), we propose a time-varying asymmetric barrier Lyapunov function to realize the specific output constraints of NCPSs under cyber-attacks. Besides, since false data injection attacks will corrupt the transmitted state variables, an observer is designed to obtain observations of the exact states, and NN is used to approximate the unknown nonlinearity of NCPSs. With the proposed control strategy, the constraint control problem of NCPSs subject to false data injection attacks is settled. Finally, a numerical simulation example verifies the effectiveness of the proposed controller. This article is part of the theme issue ‘Towards symbiotic autonomous systems’.

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Observer-based boundary control for an asymmetric output-constrained flexible robotic manipulator

Cited by 105 publications

References 8 publications

Vibration Suppression of a Coupled Aircraft Wing with Finite-Time Convergence

Vibration Suppression of a Coupled Aircraft Wing with Finite-Time Convergence

Vibration and position tracking control for a flexible Timoshenko robot arm with disturbance rejection mechanism

Adaptive neural network control for nonlinear cyber-physical systems subject to false data injection attacks with prescribed performance

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