Dynamic modeling and vibration control for a nonlinear 3‐dimensional flexible manipulator
Dynamic modeling and vibration control for a nonlinear 3‐dimensional flexible manipulator
复制标题
DOI：
10.1002/rnc.4113
复制
发表时间：
2018-09
影响因子：
3.9
通讯作者：
Zhijie Liu;Jinkun Liu;Wei He
中科院分区：
文献类型：
--
作者：
Zhijie Liu;Jinkun Liu;Wei He
本文针对具有输入扰动的三维柔性机械臂系统进行了控制设计和稳定性分析。为了准确、简洁地描述机械臂的动态行为，柔性机械臂由一组偏微分方程组和常微分方程组组成的分布参数系统来描述。提出了带扰动观测器的边界控制律，以同时调节方向和抑制弹性振动。基于李亚普诺夫直接法，在不对动力学进行任何简化的情况下，通过严格的分析实现了闭环系统的稳定性。数值仿真验证了该方案的有效性。
In this paper, the control design and stability analysis are presented for a 3‐dimensional flexible manipulator system with input disturbances. To provide an accurate and concise representation of the manipulator's dynamic behavior, the flexible manipulator is described by a distributed parameter system with a set of partial differential equations and ordinary differential equations. Boundary control laws with disturbance observers are proposed to regulate orientation and suppress elastic vibrations simultaneously. The closed‐loop stability is achieved through rigorous analysis without any simplification of the dynamics based on the Lyapunov direct method. Numerical simulations demonstrate the effectiveness of the proposed scheme.