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

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

31 引用 (Scopus)

摘要

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.

源语言英语
页(从-至)1091-1103
页数13
期刊International Journal of Control
91
5
DOI
出版状态已出版 - 4 5月 2018
已对外发布

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Cao, F., & Liu, J. (2018). Boundary control for a constrained two-link rigid–flexible manipulator with prescribed performance. International Journal of Control, 91(5), 1091-1103. https://doi.org/10.1080/00207179.2017.1305513