Partial differential equation modeling and vibration control for a nonlinear 3D rigid-flexible manipulator system with actuator faults

Fangfei Cao, Jinkun Liu*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)

Abstract

In this paper, modeling and controlling problem for a two-link rigid-flexible manipulator in three-dimensional (3D) space is studied under actuator faults. For modeling, the dynamics of the 3D mechanical system is represented by nonlinear partial differential equations, which is first derived in infinite dimension form. Based on the nonlinear model, the controller is proposed, which can achieve joint angle control and vibration suppression control in the presence of actuator faults. The stability analysis of the closed-loop system is given based on LaSalle invariance principle. Numerical simulations illustrate the effectiveness of the proposed controller. This study will promote the development of nonlinear flexible manipulator systems in 3D space.

Original languageEnglish
Pages (from-to)3793-3807
Number of pages15
JournalInternational Journal of Robust and Nonlinear Control
Volume29
Issue number11
DOIs
Publication statusPublished - 25 Jul 2019
Externally publishedYes

Keywords

  • 3D space
  • actuator faults
  • nonlinear PDE model
  • two-link rigid-flexible manipulator

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