Active Vibration Control for a Flexible-Link Manipulator with Input Constraint Based on a Disturbance Observer

doi:10.1002/asjc.1793

	Active Vibration Control for a Flexible-Link Manipulator with Input Constraint Based on a Disturbance Observer
	Yang, Hongjun1 ; Liu, Jinkun 2
发表期刊	ASIAN JOURNAL OF CONTROL
ISSN	1561-8625
	2019-03-01
卷号	21 期号:2 页码:847-855
通讯作者	Liu, Jinkun(ljk@buaa.edu.cn)
摘要	This paper mainly focuses on designing an active vibration control for a flexible-link manipulator in the presence of input constraint and unknown spatially infinite dimensional disturbances. The manipulator we studied can be taken as an Euler-Bernoulli beam, the dynamic model of which has the form of partial differential equations. As the existence of spatially infinite dimensional disturbances on the beam, we first design a disturbance observer to estimate infinite dimensional disturbances. The proposed disturbance observer is guaranteed exponentially stable. Then, taking input saturation into account, a novel disturbance-observer-based controller is developed to regulate the joint angular position and rapidly suppress vibrations on the beam, which is the main contribution of this study. The closed-loop system is validated asymptotically stable by theoretical analysis. The effectiveness of the proposed scheme is demonstrated by numerical simulations.
关键词	Active vibration control disturbance observer partial differential equation flexible link input constraint
DOI	10.1002/asjc.1793
关键词[WOS]	SYSTEMS SUBJECT ; TRACKING CONTROL ; BOUNDARY CONTROL ; DESIGN ; STABILIZATION ; SUPPRESSION ; SATURATION
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61374048] ; National Natural Science Foundation of China[61703402] ; National Natural Science Foundation of China[61374048] ; National Natural Science Foundation of China[61703402]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000462159400016
出版者	WILEY
七大方向——子方向分类	智能控制
引用统计	被引频次：21[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/25794
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Liu, Jinkun
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100190, Peoples R China
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	Yang, Hongjun,Liu, Jinkun. Active Vibration Control for a Flexible-Link Manipulator with Input Constraint Based on a Disturbance Observer[J]. ASIAN JOURNAL OF CONTROL,2019,21(2):847-855.
APA	Yang, Hongjun,&Liu, Jinkun.(2019).Active Vibration Control for a Flexible-Link Manipulator with Input Constraint Based on a Disturbance Observer.ASIAN JOURNAL OF CONTROL,21(2),847-855.
MLA	Yang, Hongjun,et al."Active Vibration Control for a Flexible-Link Manipulator with Input Constraint Based on a Disturbance Observer".ASIAN JOURNAL OF CONTROL 21.2(2019):847-855.