Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model
| Autor: | Fangfei Cao, Jin kun Liu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Partial differential equation Computer science Differential equation Applied Mathematics Mechanical Engineering 05 social sciences Mathematical analysis Boundary (topology) 02 engineering and technology General Medicine Vibration 020901 industrial engineering & automation Control and Systems Engineering Ordinary differential equation 0502 economics and business Manipulator Control (linguistics) Actuator 050203 business & management |
| Zdroj: | Journal of Computational and Nonlinear Dynamics. 14 |
| ISSN: | 1555-1423 1555-1415 |
| DOI: | 10.1115/1.4044012 |
| Popis: | In this paper, the dynamic model is established for the two-link rigid-flexible manipulator, which is represented by nonlinear ordinary differential equations–partial differential equations (ODEs–PDEs). Based on the nonlinear ODE–PDE model, the boundary control strategy is designed to drive the manipulator to follow a given trajectory and eliminate the vibration simultaneously. Considering actuators saturation, smooth hyperbolic tangent function is introduced for dealing with control input constraints problem. It has been rigorously proved that the nonlinear closed-loop system is asymptotically stable by using LaSalle's invariance principle. Simulation results show that the proposed controller is effective. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|