Boundary control for a constrained two-link rigid–flexible manipulator with prescribed performance

Fangfei Cao, Jinkun Liu*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)

Abstract

In this paper, we consider a boundary control problem for a constrained two-link rigid–flexible manipulator. The nonlinear system is described by hybrid ordinary differential equation–partial differential equation (ODE–PDE) dynamic model. Based on the coupled ODE–PDE model, boundary control is proposed to regulate the joint positions and eliminate the elastic vibration simultaneously. With the help of prescribed performance functions, the tracking error can converge to an arbitrarily small residual set and the convergence rate is no less than a certain pre-specified value. Asymptotic stability of the closed-loop system is rigorously proved by the LaSalle's Invariance Principle extended to infinite-dimensional system. Numerical simulations are provided to demonstrate the effectiveness of the proposed controller.

Original languageEnglish
Pages (from-to)1091-1103
Number of pages13
JournalInternational Journal of Control
Volume91
Issue number5
DOIs
Publication statusPublished - 4 May 2018
Externally publishedYes

Keywords

  • Two-link rigid–flexible manipulator
  • boundary control
  • coupled ODE–PDE model
  • prescribed performance

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