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

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

22 引用 (Scopus)

摘要

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.

源语言英语
页(从-至)3793-3807
页数15
期刊International Journal of Robust and Nonlinear Control
29
11
DOI
出版状态已出版 - 25 7月 2019
已对外发布

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Cao, F., & Liu, J. (2019). Partial differential equation modeling and vibration control for a nonlinear 3D rigid-flexible manipulator system with actuator faults. International Journal of Robust and Nonlinear Control, 29(11), 3793-3807. https://doi.org/10.1002/rnc.4587