期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 18, 期 2, 页码 351-362出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-019-0277-0
关键词
Input disturbance; nonlinear partial differential equation; rigid-flexible manipulator; sliding mode control
This paper investigates the robust control problem for a planar two-link rigid-flexible coupling manipulator, whose input torques are influenced by bounded disturbances. A nonlinear partial differential equation (PDE) model which only contains measurable states in the boundary conditions is developed and based on this model, and a sliding mode control (SMC) scheme is proposed to realize joint angles reaching desired value, flexible vibration suppression and anti-interference. To overcome the difficulties brought by the inherent nonlinearity of the PDE and controller, the existence and uniqueness of the solution for the closed-loop system are proven by the Galerkin approximation sequences. The numerical simulations demonstrate the validity and effectiveness of our control design.
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