Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 357, Issue 2, Pages 1026-1042Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2019.10.018
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Funding
- National Natural Science Foundation of China [61873296]
- Academic Excellence Foundation of BUAA
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In this paper, the modeling and controlling problem is studied for a two-link rigid-flexible manipulator in three-dimensional (3D) space under input saturation. The dynamics of the 3D manipulator is first derived in infinite dimension model, which is represented by partial differential equations (PDEs). The controller can achieve joint angle control and vibration suppression control in the presence of input constraint. The stability analysis of the closed-loop system is given based on LaSalle's Invariance Principle. Numerical simulations illustrate the effectiveness of the proposed controller. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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