Knowledge Commons of Institute of Automation,CAS
Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints | |
Hongjun Yang1; Jinkun Liu2; Wei He3 | |
发表期刊 | Science China-Technological Sciences |
2018 | |
卷号 | 61期号:10页码:1528-1536 |
摘要 | The issue of output constraints is studied for a flexible-link manipulator in the presence of unknown spatially distributed disturbances. The manipulator can be taken as an Euler-Bernoulli beam and its dynamic is expressed by partial differential equations. On account of the uncertainty of disturbances, we present a disturbance observer to estimate infinite dimensional disturbances on the beam. The observer is proven exponentially stable. Considering the problem of output constraints in the practical engineering, we propose a novel distributed vibration controller based on the disturbance observer to fulfill the position regulation of the joint angle and suppress elastic deflections on the flexible link, while confining the regulating errors of output in a suitable scope that we can assign. The closed-loop system is demonstrated exponentially stable based on an integral-barrier Lyapunov function. Simulations validate the effectiveness of the design scheme. |
关键词 | Flexible Manipulator Partial Differential Equation Output Constraint Distributed Vibration Control Disturbance Observer |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/25793 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Jinkun Liu |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.Beihang University 3.University of Science and Technology Beijing |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Hongjun Yang,Jinkun Liu,Wei He. Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints[J]. Science China-Technological Sciences,2018,61(10):1528-1536. |
APA | Hongjun Yang,Jinkun Liu,&Wei He.(2018).Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints.Science China-Technological Sciences,61(10),1528-1536. |
MLA | Hongjun Yang,et al."Distributed disturbance-observer-based vibration control for a flexible- link manipulator with output constraints".Science China-Technological Sciences 61.10(2018):1528-1536. |
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