Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation
Joint Authors
Wen, Hao
Chen, Ti
Ma, Junteng
Jin, Dongping
Wei, Zhengtao
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-01-08
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper studies a new boundary control strategy for a flexible manipulator subject to unknown fast time-varying disturbances.
The flexible manipulator essentially is an infinite dimensional continuum.
Hence, a continuous function of space and time can be employed to describe the position of such a distributed parameter structure, the motion of which can be described by partial differential equations (PDEs).
To cope with fast time-varying external disturbances, a high order disturbance observer is adopted.
A control strategy based on such a disturbance observer is proposed for the rest-rest maneuvering of the flexible manipulator.
Moreover, a smooth hyperbolic function is included in the controller to satisfy the requirement of input saturation.
The stability of the boundary control is analyzed using LaSalle’s invariance principle.
Finally, the performance of the presented boundary controller is verified through comparison with that of employing a constant disturbance observer via numerical simulations.
American Psychological Association (APA)
Ma, Junteng& Jin, Dongping& Wei, Zhengtao& Chen, Ti& Wen, Hao. 2018. Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation. Shock and Vibration،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1215097
Modern Language Association (MLA)
Ma, Junteng…[et al.]. Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation. Shock and Vibration No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1215097
American Medical Association (AMA)
Ma, Junteng& Jin, Dongping& Wei, Zhengtao& Chen, Ti& Wen, Hao. Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation. Shock and Vibration. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1215097
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1215097