Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer. Issue 2 (3rd April 2018)

• Record Type: Journal Article
• Authors: Yang, Hongjun; Liu, Jinkun
• Is Part Of: Asian journal of control. Volume 21:Issue 2(2019)
• Page Start: 847
• Page End: 855
• Publication Date: 2018-04-03
• Subjects: Active vibration control -- disturbance observer -- partial differential equation -- flexible link -- input constraint; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1793
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: This paper mainly focuses on designing an active vibration control for a flexible‐link manipulator in the presence of input constraint and unknown spatially infinite dimensional disturbances. The manipulator we studied can be taken as an Euler–Bernoulli beam, the dynamic model of which has the form of partial differential equations. As the existence of spatially infinite dimensional disturbances on the beam, we first design a disturbance observer to estimate infinite dimensional disturbances. The proposed disturbance observer is guaranteed exponentially stable. Then, taking input saturation into account, a novel disturbance‐observer‐based controller is developed to regulate the joint angular position and rapidly suppress vibrations on the beam, which is the main contribution of this study. The closed‐loop system is validated asymptotically stable by theoretical analysis. The effectiveness of the proposed scheme is demonstrated by numerical simulations.