Three-dimensional modeling and input saturation control for a two-link flexible manipulator based on infinite dimensional model

Fangfei Cao; Jinkun Liu

doi:10.1016/j.jfranklin.2019.10.018

Three-dimensional modeling and input saturation control for a two-link flexible manipulator based on infinite dimensional model

Fangfei Cao, Jinkun Liu^*

^*Corresponding author for this work

Beihang University

Research output: Contribution to journal › Article › peer-review

26 Citations (Scopus)

Abstract

In this paper, the modeling and controlling problem is studied for a two-link rigid-flexible manipulator in three-dimensional (3D) space under input saturation. The dynamics of the 3D manipulator is first derived in infinite dimension model, which is represented by partial differential equations (PDEs). The controller can achieve joint angle control and vibration suppression control in the presence of input constraint. The stability analysis of the closed-loop system is given based on LaSalle's Invariance Principle. Numerical simulations illustrate the effectiveness of the proposed controller.

Original language	English
Pages (from-to)	1026-1042
Number of pages	17
Journal	Journal of the Franklin Institute
Volume	357
Issue number	2
DOIs	https://doi.org/10.1016/j.jfranklin.2019.10.018
Publication status	Published - Jan 2020
Externally published	Yes

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10.1016/j.jfranklin.2019.10.018

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abstract = "In this paper, the modeling and controlling problem is studied for a two-link rigid-flexible manipulator in three-dimensional (3D) space under input saturation. The dynamics of the 3D manipulator is first derived in infinite dimension model, which is represented by partial differential equations (PDEs). The controller can achieve joint angle control and vibration suppression control in the presence of input constraint. The stability analysis of the closed-loop system is given based on LaSalle's Invariance Principle. Numerical simulations illustrate the effectiveness of the proposed controller.",

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AB - In this paper, the modeling and controlling problem is studied for a two-link rigid-flexible manipulator in three-dimensional (3D) space under input saturation. The dynamics of the 3D manipulator is first derived in infinite dimension model, which is represented by partial differential equations (PDEs). The controller can achieve joint angle control and vibration suppression control in the presence of input constraint. The stability analysis of the closed-loop system is given based on LaSalle's Invariance Principle. Numerical simulations illustrate the effectiveness of the proposed controller.

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Three-dimensional modeling and input saturation control for a two-link flexible manipulator based on infinite dimensional model

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