Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 28, Issue 13, Pages 3927-3945Publisher
WILEY
DOI: 10.1002/rnc.4113
Keywords
boundary control; distributed parameter system; flexible manipulator; partial differential equations
Funding
- National Natural Science Foundation of China [61374048]
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In this paper, the control design and stability analysis are presented for a 3-dimensional flexible manipulator system with input disturbances. To provide an accurate and concise representation of the manipulator's dynamic behavior, the flexible manipulator is described by a distributed parameter system with a set of partial differential equations and ordinary differential equations. Boundary control laws with disturbance observers are proposed to regulate orientation and suppress elastic vibrations simultaneously. The closed-loop stability is achieved through rigorous analysis without any simplification of the dynamics based on the Lyapunov direct method. Numerical simulations demonstrate the effectiveness of the proposed scheme.
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