Boundary Control Design for a Flexible Manipulator with Input Backlash *. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Zou, Mingfo; He, Wei; He, Xiuyu; Zhao, Minghao; Yang, Chuan; Li, Guang
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 6049
• Page End: 6053
• Publication Date: 2017-07
• Subjects: Flexible manipulator -- Boundary control -- Input backlash -- Distributed parameter system; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1452
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Boundary control design for a class of flexible manipulator with input backlash is our uppermost work of this paper. The original infinite dimensional model of the manipulator is represented by a partial differential equation (PDE) and a set of ordinary differential equations (ODEs). Our control aims are: 1) moving the manipulator to the certain desired angle; 2) suppressing the vibration at the neighbourhood of the desired angle; 3) handling the backlash nonlinearity existing in the practical system. The stability of the system and the effectiveness of the designed controller are analysed by Lyapunov's direct method and numerical simulation.