Boundary Control of a Rotating and Length-Varying Flexible Robotic Manipulator System

This article copes with vibration suppression and angular position tracking problems of a robotic manipulator system comprised of a rotating hub and a length-varying manipulator. To obtain precise dynamic response, the manipulator system is modeled in infinite-dimension with partial differential equations. S-curve acceleration/deceleration (S-CA/D) scheme is employed for speed regulation of the length-varying manipulator. Two novel observers are developed to estimate both the unknown disturbances and their time-derivatives, and two auxiliary systems are put forward to tackle input constraints. With assistance of the auxiliary systems and observers, two boundary control laws are put forward to manage vibration suppression and angular position tracking of the proposed manipulator system. Through Lyapunov's theory, the closed-loop system is proved to be bounded. Numerical simulations have displayed the effectiveness of the observers and boundary control laws.

Automated summary

This article addresses the vibration suppression and angular position tracking issues in a robotic manipulator system consisting of a rotating hub and a length-varying manipulator. The manipulator system is modeled using partial differential equations for precise dynamic response. The S-curve acceleration/deceleration scheme is employed for speed regulation, and novel observers are developed to estimate unknown disturbances. Two auxiliary systems are proposed to handle input constraints, and boundary control laws are used for vibration suppression and angular position tracking. Numerical simulations demonstrate the effectiveness of the proposed methods.