Observer design for a flexible-link manipulator with PDE model

被引：62
作者：
Yang, Hongjun [1 ]
Liu, Jinkun [1 ]
Lan, Xu [1 ]
机构：
[1] BeiHang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China
来源：
JOURNAL OF SOUND AND VIBRATION | 2015年 / 341卷
基金：
中国国家自然科学基金;
关键词：
ADAPTIVE BOUNDARY CONTROL;
D O I：
10.1016/j.jsv.2014.12.033
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
This paper focuses on designing an observer for a flexible-link manipulator based on the partial differential equation (PDE) dynamic model. The main contribution of this observer's novel design is its ability to estimate vibratory, infinite dimensional states requiring only the practical measurement values of boundary positions. The proposed observer is proven asymptotically stable by theoretical analysis. The vibration of the flexible link is eliminated with a PD control. Favorable performance of the closed-loop system is demonstrated by simulations. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：237 / 245
页数：9
相关论文
共 23 条
[1]  
Akyuz I. H., 2011, Proceedings of the 2011 IEEE International Conference on Mechatronics (ICM), P409, DOI 10.1109/ICMECH.2011.5971320
[2]   On tracking control of flexible robot arms [J].
Arteaga, MA ;
Siciliano, B .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2000, 45 (03) :520-527
[3]   Tracking Control of Flexible-Link Manipulators Based on Environmental Force Disturbance Observer [J].
Atashzar, S. F. ;
Talebi, H. A. ;
Towhidkhah, F. ;
Shahbazi, M. .
49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, :3584-3589
[4]   Dynamic analysis of flexible manipulators, a literature review [J].
Dwivedy, Santosha Kumar ;
Eberhard, Peter .
MECHANISM AND MACHINE THEORY, 2006, 41 (07) :749-777
[5]  
Elahidoost A, 2013, PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 3, P685
[6]   Boundary Control of a Coupled Nonlinear Flexible Marine Riser [J].
Ge, Shuzhi Sam ;
He, Wei ;
How, Bernard Voon Ee ;
Choo, Yoo Sang .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (05) :1080-1091
[7]   Improving regulation of a single-link flexible manipulator with strain feedback [J].
Ge, SS ;
Lee, TH ;
Zhu, G .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (01) :179-185
[8]   Adaptive boundary control of a flexible marine installation system [J].
He, Wei ;
Ge, Shuzhi Sam ;
Zhang, Shuang .
AUTOMATICA, 2011, 47 (12) :2728-2734
[9]   Robust adaptive boundary control of a flexible marine riser with vessel dynamics [J].
He, Wei ;
Ge, Shuzhi Sam ;
How, Bernard Voon Ee ;
Choo, Yoo Sang ;
Hong, Keum-Shik .
AUTOMATICA, 2011, 47 (04) :722-732
[10]  
Krstic M, 2008, ADV DES CONTROL, P1
123