Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints

doi:10.1007/s11431-017-9280-1

	Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints
	Yang HongJun1,2 ; Liu JinKun 2; He Wei 3
发表期刊	SCIENCE CHINA-TECHNOLOGICAL SCIENCES
ISSN	1674-7321
	2018-10-01
卷号	61 期号:10 页码:1528-1536
通讯作者	Liu JinKun(ljk@buaa.edu.cn)
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 distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system
DOI	10.1007/s11431-017-9280-1
关键词[WOS]	EULER-BERNOULLI BEAM ; 2-LINK MANIPULATOR ; NONLINEAR-SYSTEMS ; BOUNDARY CONTROL ; DYNAMIC-MODEL ; DESIGN ; STABILIZATION ; EQUATION ; ROBOT
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	Engineering ; Materials Science
WOS类目	Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS记录号	WOS:000446517900008
出版者	SCIENCE PRESS
引用统计	被引频次：16[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/173211/28145
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 100191, Peoples R China 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, 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,He Wei. 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	Yang HongJun,Liu JinKun,&He Wei.(2018).Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,61(10),1528-1536.
MLA	Yang HongJun,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.