Boundary Torque Control of a Flexible Two-Link Manipulator and Its Experimental Investigation

Autor:	Xuena Zhao, Shuang Zhang, Zhijie Liu, Qing Li
Rok vydání:	2021
Předmět:	Exponential stability Invariance principle Control and Systems Engineering Control theory Computer science Angular displacement Differential equation Torque Boundary (topology) Boundary value problem Electrical and Electronic Engineering Hamiltonian (control theory)
Zdroj:	IEEE Transactions on Industrial Electronics. 68:8708-8717
ISSN:	1557-9948 0278-0046
DOI:	10.1109/tie.2020.3013742
Popis:	This article focuses on a two-dimensional flexible two-link manipulator that moves in a plane. The two links are simplified into Euler–Bernoulli beams and the coupled partial differential equation-ordinary differential equation dynamic model is established via Hamiltonian's principle. Two torque controllers acting on two motors, respectively, are designed for the simultaneous angular position control of two motors and suppression of the elastic vibrations of the links. The Lyapunov direct method and extended LaSalle invariance principle are used to prove the asymptotic stability of the system. In addition, numerical simulations illustrate the correctness and reasonability of the theoretical proof for the stability analysis and boundary control design, and the experimental verification on the platform of the Quanser laboratory also reaches the same conclusion.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::c164c086dc26908237fdebb10cfe6c87 https://doi.org/10.1109/tie.2020.3013742 Zobrazit plný text záznamu