Journal
ASIAN JOURNAL OF CONTROL
Volume 19, Issue 1, Pages 332-345Publisher
WILEY
DOI: 10.1002/asjc.1342
Keywords
Boundary control; PDE model; flexible manipulator; constraint; prescribed performance
Categories
Funding
- Research Fund for Doctoral Program of Higher Education of China [20121102110008]
- National Natural Science Foundation of China [61374048]
Ask authors/readers for more resources
In this study, we consider a boundary control problem of a flexible manipulator with input disturbances and output constraints, achieving pre-set performance attributes on position tracking error and the deflection error at the end of the beam. The dynamics of the system are represented by partial differential equations (PDEs). With the Lyapunov's direct method, a boundary controller with disturbance observer is designed to regulate the angular position and suppress elastic vibration simultaneously. The proposed control scheme allows the errors to converge to an arbitrarily small residual set, with convergence rate larger than a pre-specified value. Numerical simulations demonstrate the effectiveness of the proposed scheme.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available