Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints
文献类型：期刊论文
| 作者 | Yang HongJun1,2 ; Liu JinKun2; He Wei3
|
| 刊名 | SCIENCE CHINA-TECHNOLOGICAL SCIENCES
 |
| 出版日期 | 2018-10-01 |
| 卷号 | 61期号:10页码:1528-1536 |
| 关键词 | flexible manipulator distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system |
| ISSN号 | 1674-7321 |
| DOI | 10.1007/s11431-017-9280-1 |
| 通讯作者 | Liu JinKun(ljk@buaa.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | EULER-BERNOULLI BEAM ; 2-LINK MANIPULATOR ; NONLINEAR-SYSTEMS ; BOUNDARY CONTROL ; DYNAMIC-MODEL ; DESIGN ; STABILIZATION ; EQUATION ; ROBOT |
| 资助项目 | National Natural Science Foundation of China[61374048] ; National Natural Science Foundation of China[61703402] |
| WOS研究方向 | Engineering ; Materials Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000446517900008 |
| 出版者 | SCIENCE PRESS |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28144]  |
| 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 100191, Peoples R China 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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