Vibration Control for Flexible Manipulators With Event-Triggering Mechanism and Actuator Failures

Zhao, Xuena; Zhang, Shuang; Liu, Zhijie; Li, Qing

doi:10.1109/tcyb.2020.3041727

Cited by 27 publications

(20 citation statements)

References 45 publications

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“…In the end, the control performance has been validated by the simulation research. Future interesting topics include the intelligent control techniques [49][50][51][52][53][54] or event-triggered control 55 for controlled riser-vessel systems.…”

Section: Discussionmentioning

confidence: 99%

“…Next, choosing appropriate parameters 𝛿 j , for j = 1, … , 8 satisfies ( 42)- (49). Then, we seek out proper 𝜅 a1 , 𝜅 b1 , and 𝜅 c1 that satisfy ( 50)- (55). Finding a proper 𝜇 makes (56) hold.…”

Section: Robust Adaptive Controlmentioning

confidence: 99%

“…Whatever values we choose for 𝛿 j , for j = 1, … , 6, (56) evidently holds. In the process of the simulation, appropriate values of 𝜅 a1 , 𝜅 b1 , and 𝜅 c1 are first chosen for satisfying (50)- (55). Then appropriate values 𝜇, 𝜅 a2 , 𝜅 b2 , and 𝜅 c2 are then suitably tuned until excellent transient performance can be acquired.…”

Section: Robust Adaptive Controlmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

Tan

Liu

et al. 2021

Intl J Robust & Nonlinear

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This article involves an adaptive robust barrier-based control of a three-dimensional riser system subject to system uncertainties and output constraints. A barrier-based Lyapunov function and a dynamical online update technique are merged to develop new adaptive robust control schemes for dampening the vibration, compensating for parametric uncertainties, and dealing with the constraints in the system. A rigorous Lyapunov analysis is exploited to guarantee the uniformly bounded stability in the controlled system. Finally, the efficacy of the designed approach is validated via simulation results.

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Section: Discussionmentioning

confidence: 99%

Section: Robust Adaptive Controlmentioning

confidence: 99%

Section: Robust Adaptive Controlmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

Tan

Liu

et al. 2021

Intl J Robust & Nonlinear

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“…Recent years have witnessed an abrupt advancement in the design of boundary controllers for damping the vibration of flexible robotic arms (Dogan and Morgul, 2010; Zhao et al , 2021; Liu et al , 2019). For example, a novel boundary control scheme based on the smooth hyperbolic tangent function is proposed in Liu et al (2017a) for a flexible manipulator to restrain vibration and achieve angular positioning.…”

Section: Introductionmentioning

confidence: 99%

“…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).…”

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

Self Cite

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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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PDE-based boundary event-triggered control of uncertain flexible manipulator with input nonlinearities

Ahn

2023

Nonlinear Dyn

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Vibration Control for Flexible Manipulators With Event-Triggering Mechanism and Actuator Failures

Cited by 27 publications

References 45 publications

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

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

PDE-based boundary event-triggered control of uncertain flexible manipulator with input nonlinearities

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