Vibration control for a flexible single-link manipulator and its application

被引：33
作者：
He, Xiuyu [1 ,2 ]
Zhang, Shuang [1 ,2 ]
Ouyang, Yuncheng [3 ]
Fu, Qiang [1 ,2 ]
机构：
[1] Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[3] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China
来源：
IET CONTROL THEORY AND APPLICATIONS | 2020年 / 14卷 / 07期
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
elasticity; vibration control; stability; position control; flexible manipulators; manipulator dynamics; control system synthesis; flexible single-link manipulator; vibration control design; single-link manipulator system; spatiotemporal mathematic model; dynamical behaviour; FSLM system; boundary controller; angular position; elastic deflection; boundary vibration control scheme; equilibrium position; boundary control design; Quanser laboratory platform; ADAPTIVE BOUNDARY CONTROL; TIME TRACKING CONTROL; FEEDBACK-CONTROL; COOPERATIVE CONTROL; SLIDING MODE; PDE BOUNDARY; SYSTEMS; BEAM; ARM; CRANE;
D O I：
10.1049/iet-cta.2018.5815
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 study focuses on vibration control design of a flexible single-link manipulator (FSLM) system and discusses its application on an experimental platform. A spatiotemporal mathematic model is presented to formulate dynamical behaviour of the FSLM system, and only a boundary controller mounted on the hub is designed to drive the link for tracking a given angular position and to reduce elastic deflection simultaneously. Under the boundary vibration control scheme, states of the system are ensured to converge exponentially to the equilibrium position. Moreover, numerical simulations demonstrate the correctness of theoretical proof for the stability analysis and the reasonability of boundary control design. Experiment validation implemented on the Quanser laboratory platform illustrates the same conclusion as well.
引用
收藏
页码：930 / 938
页数：9
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