Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator
文献类型：期刊论文
| 作者 | Zhijia Zhao; Zhijie Liu |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:1页码:157-168 |
| 关键词 | Disturbance observer disturbance rejection control finite-time convergence Timoshenko manipulator vibration control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003378 |
| 英文摘要 | This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances. To suppress the shear deformation and elastic oscillation, position the manipulator in a desired angle, and ensure the finitetime convergence of disturbances, we develop three disturbance observers (DOs) and boundary controllers. Under the derived DOs-based control schemes, the controlled system is guaranteed to be uniformly bounded stable and disturbance estimation errors converge to zero in a finite time. In the end, numerical simulations are established by finite difference methods to demonstrate the effectiveness of the devised scheme by selecting appropriate parameters. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43904]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Zhijia Zhao,Zhijie Liu. Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(1):157-168. |
| APA | Zhijia Zhao,&Zhijie Liu.(2021).Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator.IEEE/CAA Journal of Automatica Sinica,8(1),157-168. |
| MLA | Zhijia Zhao,et al."Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator".IEEE/CAA Journal of Automatica Sinica 8.1(2021):157-168. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。