Active Vibration Control for a Flexible-Link Manipulator with Input Constraint Based on a Disturbance Observer
文献类型：期刊论文
| 作者 | Yang, Hongjun1 ; Liu, Jinkun2
|
| 刊名 | ASIAN JOURNAL OF CONTROL
 |
| 出版日期 | 2019-03-01 |
| 卷号 | 21期号:2页码:847-855 |
| ISSN号 | 1561-8625 |
| 关键词 | Active vibration control disturbance observer partial differential equation flexible link input constraint |
| DOI | 10.1002/asjc.1793 |
| 通讯作者 | Liu, Jinkun(ljk@buaa.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | SYSTEMS SUBJECT ; TRACKING CONTROL ; BOUNDARY CONTROL ; DESIGN ; STABILIZATION ; SUPPRESSION ; SATURATION |
| 资助项目 | National Natural Science Foundation of China[61374048] ; National Natural Science Foundation of China[61703402] |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| 出版者 | WILEY |
| WOS记录号 | WOS:000462159400016 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25794]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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