Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations-Partial Differential Equations Model

Fangfei Cao, Jinkun Liu*

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

8 引用 (Scopus)

摘要

In this paper, the dynamic model is established for the two-link rigid-flexible manipulator, which is represented by nonlinear ordinary differential equations-partial differential equations (ODEs-PDEs). Based on the nonlinear ODE-PDE model, the boundary control strategy is designed to drive the manipulator to follow a given trajectory and eliminate the vibration simultaneously. Considering actuators saturation, smooth hyperbolic tangent function is introduced for dealing with control input constraints problem. It has been rigorously proved that the nonlinear closed-loop system is asymptotically stable by using LaSalle's invariance principle. Simulation results show that the proposed controller is effective.

源语言英语
文章编号094501
期刊Journal of Computational and Nonlinear Dynamics
14
9
DOI
出版状态已出版 - 1 9月 2019
已对外发布

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