A boundary control for motion synchronization of a two-manipulator system with a flexible beam

被引：27
作者：
Dou, Haibin [1 ]
Wang, Shaoping [1 ,2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
来源：
AUTOMATICA | 2014年 / 50卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Motion synchronization; Coupling dynamics; Boundary control; Distributed parameter system; Riesz basis; TRACKING CONTROL; STABILIZATION; POSITION;
D O I：
10.1016/j.automatica.2014.10.057
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel synchronization motion control method is proposed in this paper for the system in which two manipulators are constrained by a flexible beam. Different from the general synchronization control method, the coupling dynamics among various actuators is considered as the shear force, which results from the synchronization errors. Then a simple boundary control is introduced to realize the synchronization motion of actuators by suppressing the shear force. In order to avoid the drawbacks of assumed modes model, the dynamic model of flexible beam is described by a distributed parameter model in this paper. A Riesz basis method is used to prove that the proposed control law can guarantee the synchronization system to be exponential stability. Simulation results demonstrate that the proposed method can effectively improve the performance of synchronization motion compared with other methods. (C) 2014 Elsevier Ltd. All rights reserved.
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页码：3088 / 3099
页数：12
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