Adaptive boundary control for flexible two‐link manipulator based on partial differential equation dynamic model. Issue 1 (1st January 2013)

• Record Type: Journal Article
• Authors: Zhang, Linjun; Liu, Jinkun
• Is Part Of: IET control theory & applications. Volume 7:Issue 1(2013)
• Page Start: 43
• Page End: 51
• Publication Date: 2013-01-01
• Subjects: adaptive control -- asymptotic stability -- closed loop systems -- control system synthesis -- flexible manipulators -- manipulator dynamics -- partial differential equations -- vibration control; adaptive boundary control -- flexible two‐link manipulator -- partial differential equation dynamic model -- changeable payload -- infinite‐dimensionality -- flexural dynamics -- PDE model -- spillover instability -- joint position -- elastic vibration -- parametric uncertainties -- asymptotic stability -- closed‐loop system -- numerical simulations; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2011.0593
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : In this studies, adaptive boundary control for a flexible two‐link manipulator with a changeable payload at the free‐end. Taking into account the infinite‐dimensionality of the flexural dynamics, this study proposes a partial differential equation (PDE) model, so that the problem of possible spillover instability caused by the neglect of flexible modes can be avoided. Based on the PDE model, an adaptive boundary control scheme is designed to regulate joint position and suppress elastic vibration while compensating for parametric uncertainties. The asymptotic stability of the closed‐loop system is validated theoretically. The effectiveness of the control scheme is also verified by the numerical simulations.