PDE Model-Based Boundary Control Design for a Flexible Robotic Manipulator With Input Backlash
PDE Model-Based Boundary Control Design for a Flexible Robotic Manipulator With Input Backlash
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DOI：
10.1109/tcst.2017.2780055
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发表时间：
2019-03-01
影响因子：
4.8
通讯作者：
Li, Hongyi
中科院分区：
文献类型：
--
作者：
He, Wei;He, Xiuyu;Li, Hongyi
本文讨论了柔性机械臂的控制设计问题。我们的控制策略是：1)将机械手移动到特定的期望角度；2)抑制期望角度附近的振动；3)处理实际系统中存在的间隙非线性。基于无限维动力学模型，设计了一种带输入间隙的边界控制器，以达到控制目的。采用输出反馈方法表示控制器，对不能直接测量的反馈信号进行处理。通过理论分析、数值仿真和物理实验验证了所设计控制器的有效性和系统的稳定性。
This brief considers the control design problem for a flexible robotic manipulator. Our control strategies are to: 1) move the manipulator to the certain desired angle; 2) suppress the vibration at the neighborhood of the desired angle; and 3) handle the backlash nonlinearity existing in the practical system. Based on the infinite-dimensional dynamic model, a boundary controller with input backlash is designed to achieve the control aims. An output feedback method is adopted to represent a controller to handle the feedback signals that are not able to be measured directly. The effectiveness of the designed controllers and the stability of the system are demonstrated by theoretical analysis, numerical simulations, and physical experiments.