Robust Adaptive Control of a Cantilevered Flexible Structure with Spatiotemporally Varying Coefficients and Bounded Disturbance

Yang, Kwangho; Hong, Keum–Shik; Matsuno, Fumitoshi

doi:10.1299/jsmec.47.812

Cited by 10 publications

(11 citation statements)

References 21 publications

(22 reference statements)

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“…Adaptation law of the parameter estimatesm(t) andĉ(t) are defined as Equations (50) and (51). u i (t) is an auxiliary input function based on robust control strategy [33,34], as Equations (52) and (53).…”

Section: Robust Adaptive Boundary Controlmentioning

confidence: 99%

Modeling and Control for a Multi-Rope Parallel Suspension Lifting System under Spatial Distributed Tensions and Multiple Constraints

et al. 2018

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The modeling and control of the multi-rope parallel suspension lifting system (MPSLS) are investigated in the presence of different and spatial distributed tensions; unknown boundary disturbances; and multiple constraints, including time varying geometric constraint, input saturation, and output constraint. To describe the system dynamics more accurately, the MPSLS is modelled by a set of partial differential equations and ordinary differential equations (PDEs-ODEs) with multiple constraints, which is a nonhomogeneous and coupled PDEs-ODEs, and makes its control more difficult. Adaptive boundary control is a recommended method for position regulation and vibration degradation of the MPSLS, where adaptation laws and a boundary disturbance observer are formulated to handle system uncertainties. The system stability is rigorously proved by using Lyapunov's direct method, and the position and vibration eventually diminish to a bounded neighborhood of origin. The original PDEs-ODEs are solved by finite difference method, and the multiple constraints problem is processed simultaneously. Finally, the performance of the proposed control is demonstrated by both the results of ADAMS simulation and numerical calculation.

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Section: Robust Adaptive Boundary Controlmentioning

confidence: 99%

Modeling and Control for a Multi-Rope Parallel Suspension Lifting System under Spatial Distributed Tensions and Multiple Constraints

et al. 2018

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“…This allows us to get

L false(t false) \leq L false(0 false) e^{- C_{2} t} + {\overset{ϑ}{true}}_{d}, t \geq t_{*} .

The result holds trivially between 0 and t . ϑ ( t ) can be pushed in an arbitrarily small bounded region by making sufficiently small ϵ d and δ d and by making sufficiently large ϑ d (see Yang et al). Thus, implies

L (t) \leq C_{3} e^{- γ t} + ϵ_{d}, t \geq t_{*},

and Proposition concludes

E (t) \leq K_{1} e^{- γ t} + ϵ_{d}, t \geq t_{*},

with small positive ϵ d and positive constants K 1 and γ .…”

Section: Asymptotic Behaviormentioning

confidence: 99%

“…The result holds trivially between 0 and t. (t) can be pushed in an arbitrarily small bounded region by making sufficiently small d and d and by making sufficiently large d (see Yang et al 3,17 ). Thus, (42) implies…”

mentioning

confidence: 99%

Stabilization of an axially moving viscoelastic string under a spatiotemporally varying tension

Kelleche

Saedpanah

2018

Math Methods in App Sciences

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In this paper, we consider a system modeling an axially moving viscoelastic string under a spatiotemporally varying tension. A mechanism consisted of a hydraulic touch‐roll actuator pointed at the right boundary to suppress the transverse vibrations. We adopt the multiplier method to design a boundary control law and to prove an exponential stability result. However, this result is obtained provided that the lower bound of the tension in the string is larger than its time derivative. The effectiveness of the proposed control law is demonstrated via simulations.

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“…With this method, Zhang et al [11,12] considered adaptive dynamic surface control for nonlinear systems with uncertainties, Hou and Duan [13] studied how to design controller for integrated missile guidance and autopilot. Moreover, some other approaches such as model reference adaptive control [14,15] , robust adaptive control [16] and adaptive iterative learning control [17] are also useful to regulate such nonlinear systems. The adaptive tracking problem for FJR has been studied before.…”

Section: Introductionmentioning

confidence: 99%

A new adaptive tracking control approach for uncertain flexible joint robot system

Liu

Huang

2015

Int. J. Autom. Comput.

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Abstract:The adaptive tracking problem for uncertain flexible joint robot system is studied in this paper. By utilizing the adaptive backstepping method, an adaptive controller is constructed at the beginning. By utilizing the modified adaptive dynamic surface control technique, a new adaptive controller is presented afterwards to avoid the overparametrization problem and the explosion of complexity problem existing in the adaptive backstepping method. All the signals of the closed-loop system are rendered globally/semi-globally uniformly ultimately bounded, and the tracking error can be made arbitrarily small by tuning the designed parameters. A simulation example is given to show the validity of the control algorithm.

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Robust Adaptive Control of a Cantilevered Flexible Structure with Spatiotemporally Varying Coefficients and Bounded Disturbance

Cited by 10 publications

References 21 publications

Modeling and Control for a Multi-Rope Parallel Suspension Lifting System under Spatial Distributed Tensions and Multiple Constraints

Modeling and Control for a Multi-Rope Parallel Suspension Lifting System under Spatial Distributed Tensions and Multiple Constraints

Stabilization of an axially moving viscoelastic string under a spatiotemporally varying tension

A new adaptive tracking control approach for uncertain flexible joint robot system

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