Vibration suppression and boundary control for nonlinear flexible rotating manipulator in three-dimensional space subject to output restrictions

We investigate the issue of vibration suppression and boundary control for nonlinear flexible rotating manipulator (FRM) in three-dimensional (3D) space subject to output restrictions. Considering partial differential equations (PDEs) model, we devise a boundary control approach to suppress distributed elastic deformation and vibration, to ensure the base and link reaches the desired angle. Barrier Lyapunov function (BLF) is applied to keep the output signal within a safe and adjustable range. Finally, we perform digital simulation to verify the validity of the designed control strategy.(c) 2023 Elsevier B.V. All rights reserved.

Automated summary

In this paper, we investigate the problem of vibration suppression and boundary control for a nonlinear flexible rotating manipulator in three-dimensional space. We propose a boundary control approach based on partial differential equations model to suppress distributed elastic deformation and vibration and ensure the desired angle of the base and link. The Barrier Lyapunov function is used to keep the output signal within a safe and adjustable range. Finally, digital simulation is performed to validate the effectiveness of the designed control strategy.