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Boundary control of a vertical nonlinear flexible manipulator considering disturbance observer and deflection constraint with torque and boundary force feedback signals
, Article International Journal of Systems Science ; 2021 ; 00207721 (ISSN) ; Najafi Ardekany, A ; Alasty, A ; Sharif University of Technology
Taylor and Francis Ltd
2021
Abstract
In this paper, boundary control (BC) laws are designed to find a BC solution for a single-link nonlinear vertical manipulator to suppress the link’s transverse vibrations and control the rigid body nonlinear large rotating motion. The governing equations of motions and boundary conditions, which all consist of a set of PDEs and ODEs have been derived based on the Hamilton principle. It is desired to regulate large angular orientation, suppress the flexible link’s transverse vibrations and compensate the boundary disturbance simultaneously. The amount of elastic boundary vibration has remained within the constraint range. By considering novel Barrier-Integral Lyapunov functional in order to...
Boundary control of a vertical nonlinear flexible manipulator considering disturbance observer and deflection constraint with torque and boundary force feedback signals
, Article International Journal of Systems Science ; Volume 53, Issue 4 , 2022 , Pages 704-725 ; 00207721 (ISSN) ; Najafi Ardekany, A ; Alasty, A ; Sharif University of Technology
Taylor and Francis Ltd
2022
Abstract
In this paper, boundary control (BC) laws are designed to find a BC solution for a single-link nonlinear vertical manipulator to suppress the link’s transverse vibrations and control the rigid body nonlinear large rotating motion. The governing equations of motions and boundary conditions, which all consist of a set of PDEs and ODEs have been derived based on the Hamilton principle. It is desired to regulate large angular orientation, suppress the flexible link’s transverse vibrations and compensate the boundary disturbance simultaneously. The amount of elastic boundary vibration has remained within the constraint range. By considering novel Barrier-Integral Lyapunov functional in order to...