期刊
ASIAN JOURNAL OF CONTROL
卷 19, 期 1, 页码 332-345出版社
WILEY
DOI: 10.1002/asjc.1342
关键词
Boundary control; PDE model; flexible manipulator; constraint; prescribed performance
资金
- Research Fund for Doctoral Program of Higher Education of China [20121102110008]
- National Natural Science Foundation of China [61374048]
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.
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