Vibration Control of an Experimental Flexible Manipulator Against Input Saturation

被引：0

作者：

Zhijia Zhao ^{[1
,2
,3
]}

Sentao Cai ^{[2
,3
]}

Ge Ma ^{[2
,3
]}

FRichard Yu ^{[1
,4
]}

机构：

[1] IEEE

[2] the School of Mechanical and Electrical Engineering, Guangzhou University

[3] the Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ)

[4] the Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), College of Computer Science & Software Engineering, Shenzhen University

来源：

IEEE/CAAJournalofAutomaticaSinica | 2023年 / 10卷 / 05期

关键词：

D O I：

暂无

中图分类号：

TP241 [机械手]; TP273 [自动控制、自动控制系统];

学科分类号：

080202 ; 1405 ; 080201 ; 0835 ;

摘要：

<正>Dear Editor, This letter considers the control problem of an experimental flexible manipulator in position tracking, vibration suppression, and saturation compensation. Based on the backstepping technology and a Nussbaum function, we develop an anti-windup control to restrain the manipulator's vibration, realize the desire trajectory tracking, and eliminate the saturation.

引用

页码：1340 / 1342

页数：3

共 11 条

[1] Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator [J].

Zhijia Zhao ;

Zhijie Liu .

IEEE/CAA Journal of Automatica Sinica, 2021, 8 (01) :157-168

[2] Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation [J].

Song Ling ;

Huanqing Wang ;

Peter XLiu .

IEEE/CAAJournalofAutomaticaSinica, 2019, 6 (01) :97-107

[3]

Adaptive Neural-Network Boundary Control for a Flexible Manipulator With Input Constraints and Model Uncertainties[J].IEEE transactions on cybernetics,2020

[4]

Xiuyu He,Shuang Zhang,Yuncheng Ouyang,Qiang Fu.Vibration control for a flexible single-link manipulator and its application[J].IET Control Theory & Applications,2020

[5]

Fangfei Cao,Jinkun Liu.Three-dimensional modeling and input saturation control for a two-link flexible manipulator based on infinite dimensional model[J].Journal of the Franklin Institute,2019

[6]

Hongjun Yang,Jinkun Liu.Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer[J].Asian Journal of Control,2019

[7]

Zhang Shuang,Liu Rui,Peng Kaixiang,He Wei.Boundary Output Feedback Control for a Flexible Two-Link Manipulator System With High-Gain Observers[J].IEEE Transactions on Control Systems Technology,2019

[8] Boundary control for a flexible manipulator with a robust state observer [J].

Jiang, Tingting ;

Liu, Jinkun ;

He, Wei .

JOURNAL OF VIBRATION AND CONTROL, 2018, 24 (02) :260-271

[9]

Xiuyu He,Wei He,Changyin Sun.Robust adaptive vibration control for an uncertain flexible Timoshenko robotic manipulator with input and output constraints[J].International Journal of Systems Science,2017

[10]

Zhijie Liu,Jinkun Liu,Wei He.An adaptive iterative learning algorithm for boundary control of a flexible manipulator[J].International Journal of Adaptive Control and Signal Processing,2017

← 1 2 →