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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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