Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations

Fangfei Cao; Jinkun Liu

doi:10.23919/ChiCC.2017.8027584

Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations

Fangfei Cao, Jinkun Liu

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method are applied to generate the optimal trajectory, which will minimize the deformation of flexible manipulator. Then, a backstepping boundary control scheme is proposed to regulate the joint along the optimal trajectory and suppress vibration simultaneously. In simulation, the optimum algorithm and backstepping controller are verified by MATLAB.

Original language	English
Title of host publication	Proceedings of the 36th Chinese Control Conference, CCC 2017
Editors	Tao Liu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	1632-1637
Number of pages	6
ISBN (Electronic)	9789881563934
DOIs	https://doi.org/10.23919/ChiCC.2017.8027584
Publication status	Published - 7 Sept 2017
Externally published	Yes
Event	36th Chinese Control Conference, CCC 2017 - Dalian, China Duration: 26 Jul 2017 → 28 Jul 2017

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	36th Chinese Control Conference, CCC 2017
Country/Territory	China
City	Dalian
Period	26/07/17 → 28/07/17

Keywords

Backstepping control
Flexible manipulator
PDE model
Singular perturbation
Trajectory optimization

Access to Document

10.23919/ChiCC.2017.8027584

Cite this

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title = "Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations",

abstract = "In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method are applied to generate the optimal trajectory, which will minimize the deformation of flexible manipulator. Then, a backstepping boundary control scheme is proposed to regulate the joint along the optimal trajectory and suppress vibration simultaneously. In simulation, the optimum algorithm and backstepping controller are verified by MATLAB.",

keywords = "Backstepping control, Flexible manipulator, PDE model, Singular perturbation, Trajectory optimization",

author = "Fangfei Cao and Jinkun Liu",

note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",

year = "2017",

month = sep,

day = "7",

doi = "10.23919/ChiCC.2017.8027584",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "1632--1637",

editor = "Tao Liu and Qianchuan Zhao",

booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",

address = "United States",

}

Cao, F & Liu, J 2017, Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations. in T Liu & Q Zhao (eds), Proceedings of the 36th Chinese Control Conference, CCC 2017., 8027584, Chinese Control Conference, CCC, IEEE Computer Society, pp. 1632-1637, 36th Chinese Control Conference, CCC 2017, Dalian, China, 26/07/17. https://doi.org/10.23919/ChiCC.2017.8027584

Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations. / Cao, Fangfei; Liu, Jinkun.
Proceedings of the 36th Chinese Control Conference, CCC 2017. ed. / Tao Liu; Qianchuan Zhao. IEEE Computer Society, 2017. p. 1632-1637 8027584 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations

AU - Cao, Fangfei

AU - Liu, Jinkun

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N2 - In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method are applied to generate the optimal trajectory, which will minimize the deformation of flexible manipulator. Then, a backstepping boundary control scheme is proposed to regulate the joint along the optimal trajectory and suppress vibration simultaneously. In simulation, the optimum algorithm and backstepping controller are verified by MATLAB.

AB - In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method are applied to generate the optimal trajectory, which will minimize the deformation of flexible manipulator. Then, a backstepping boundary control scheme is proposed to regulate the joint along the optimal trajectory and suppress vibration simultaneously. In simulation, the optimum algorithm and backstepping controller are verified by MATLAB.

KW - Backstepping control

KW - Flexible manipulator

KW - PDE model

KW - Singular perturbation

KW - Trajectory optimization

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M3 - Conference contribution

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SP - 1632

EP - 1637

BT - Proceedings of the 36th Chinese Control Conference, CCC 2017

A2 - Liu, Tao

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - 36th Chinese Control Conference, CCC 2017

Y2 - 26 July 2017 through 28 July 2017

ER -

Trajectory optimization of a flexible manipulator using backstepping in the form of partial differential equations

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Keywords

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