Vibration suppression and boundary control for nonlinear flexible rotating manipulator in three-dimensional space subject to output restrictions

被引：11
作者：
Wang, Jiacheng [1 ]
Liu, Jinkun [2 ,3 ]
Ji, Biao [1 ]
He, Yundong [1 ]
Xia, Sigang [1 ]
Zhou, Yongping [1 ]
机构：
[1] China Aerosp Sci & Technol Corp, Shanghai Inst Mech & Elect Engn, Shanghai 201109, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China
[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION | 2023年 / 120卷
基金：
中国国家自然科学基金;
关键词：
Vibration suppression; Partial differential equation; Output constraints; Flexible rotating manipulator; FAULT-TOLERANT CONTROL; STATE CONSTRAINTS; DYNAMIC-ANALYSIS; SYSTEMS; MODEL; BEAM;
D O I：
10.1016/j.cnsns.2023.107151
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
We investigate the issue of vibration suppression and boundary control for nonlinear flexible rotating manipulator (FRM) in three-dimensional (3D) space subject to output restrictions. Considering partial differential equations (PDEs) model, we devise a boundary control approach to suppress distributed elastic deformation and vibration, to ensure the base and link reaches the desired angle. Barrier Lyapunov function (BLF) is applied to keep the output signal within a safe and adjustable range. Finally, we perform digital simulation to verify the validity of the designed control strategy.(c) 2023 Elsevier B.V. All rights reserved.
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页数：15
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