PDE Model-Based Boundary Control Design for a Flexible Robotic Manipulator With Input Backlash

被引：215

作者：

He, Wei ^{[1
,2
]}

He, Xiuyu ^{[1
,2
]}

Zou, Mingfo ^{[3
,4
]}

Li, Hongyi ^{[5
,6
]}

机构：

[1] Univ Sci & Technol Beijing, Minist Educ, Sch Automat & Elect Engn, Beijing 100083, Peoples R China

[2] Univ Sci & Technol Beijing, Minist Educ, Key Lab Knowledge Automat Ind Proc, Beijing 100083, Peoples R China

[3] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China

[4] Univ Elect Sci & Technol China, Ctr Robot, Chengdu 611731, Sichuan, Peoples R China

[5] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China

[6] Bohai Univ, Coll Engn, Jinzhou 121013, Peoples R China

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2019年 / 27卷 / 02期

基金：

北京市自然科学基金;

关键词：

Distributed parameter system; flexible robotic manipulator; input backlash; output feedback; vibration control; OUTPUT-FEEDBACK STABILIZATION; ROBUST ADAPTIVE-CONTROL; VIBRATION CONTROL; NONLINEAR-SYSTEMS; HYSTERESIS; EQUATION;

D O I：

10.1109/TCST.2017.2780055

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This brief considers the control design problem for a flexible robotic manipulator. Our control strategies are to: 1) move the manipulator to the certain desired angle; 2) suppress the vibration at the neighborhood of the desired angle; and 3) handle the backlash nonlinearity existing in the practical system. Based on the infinite-dimensional dynamic model, a boundary controller with input backlash is designed to achieve the control aims. An output feedback method is adopted to represent a controller to handle the feedback signals that are not able to be measured directly. The effectiveness of the designed controllers and the stability of the system are demonstrated by theoretical analysis, numerical simulations, and physical experiments.

引用

页码：790 / 797

页数：8

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