期刊
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
卷 35, 期 7, 页码 1404-1416出版社
WILEY
DOI: 10.1002/acs.3249
关键词
adaptive control; dead‐ zone input; flexible manipulator system; PDEs
资金
- Doctoral Research Initiation of Foundation of Liaoning Province [2020-BS-243]
- National Natural Science Foundation of China [61903168, 61973147, 62025303]
- Natural Scientific Research Foundation Guiding Plan of Liaoning Province [2019-ZD-0701]
This article investigates a flexible manipulator system with dead-zone input and state constraints using partial differential equations. An adaptive approach is proposed to address unknown dead-zone input parameters and state constraint issues. The control method designed ensures the boundedness of all signals and satisfaction of constraint conditions for the closed-loop system. Simulation results demonstrate the effectiveness of the proposed control method.
In this article, based on partial differential equations (PDEs), the flexible manipulator system with both dead-zone input and state constraints is studied. The dynamic model of the flexible manipulator system is described by PDEs. The parameters of the dead-zone input are unknown, and the state constraint problem is also considered. An adaptive approach is proposed to offset the effects caused by dead-zone input. Thus, to guarantee that all states remain within their respective constraint regions, the boundary control law based on the barrier Lyapunov function is given, and an adaptive controller is designed. According to the Lyapunov analysis method, the control method is given to ensure that all signals of the closed-loop system are bounded and all states satisfy the constraint conditions. Finally, simulation results show the effectiveness of the proposed control method in this article.
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