Simultaneous positioning and non-minimum phase vibration suppression of slewing flexible-link manipulator using only joint actuator. (July 2014)

• Record Type: Journal Article
• Authors: Chu, Ming; Chen, Gang; Jia, Qing-Xuan; Gao, Xin; Sun, Han-Xu
• Is Part Of: Journal of vibration and control. Volume 20:Number 10(2014)
• Page Start: 1488
• Page End: 1497
• Publication Date: 2014-07
• Subjects: Flexible-link manipulator -- nonminimum phase -- sliding mode control -- vibration suppression; Vibration -- Periodicals; Damping (Mechanics) -- Periodicals; 620.3
• DOI: 10.1177/1077546312470477
• Languages: English
• ISSNs: 1077-5463

Abstract

This paper presents a new global terminal sliding mode control (GTSMC) methodology for the simultaneous positioning and vibration suppression of slewing a flexible-link manipulator. The proposed control scheme is realized using only a joint actuator without an extra actuator (for example, the widely used piezoelectric zirconate titanate), and the non-minimum phase vibration control problem is solved. Firstly, based on the differential geometry method, the initial dynamic system is decomposed into two subsystems, namely an input-output subsystem and a zero-dynamics subsystem. Secondly, a continuous GTSMC strategy without chattering phenomenon is designed for the input-output subsystem, and the limited convergence time is deduced. Moreover, the eigenvalues of the zero-dynamics subsystem can be pointed by setting proper controller parameters for Lyapunov asymptotical stability. Finally, simulation and experimental results demonstrated the efficacy and feasibility of the proposed control methodology.