期刊
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷 354, 期 1, 页码 277-297出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2016.10.013
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类别
资金
- Research Fund for the National Natural Science Foundation of China [61374048]
To perform repetitive tasks, this paper proposes an adaptive boundary iterative learning control (ILC) scheme for a two-link rigid flexible manipulator with parametric uncertainties. Using Hamilton's principle, the coupled ordinary differential equation and partial differential equation (ODE-PDE) dynamic model of the system is established. In order to drive the joints to follow desired trajectory and eliminate deformation of flexible beam simultaneously, boundary control strategy is added based on the conventional joints torque control. The adaptive iterative learning algorithm for boundary control scheme includes a proportional derivative (PD) feedback structure and an iterative term. This novel controller is designed to deal with the unmodeled dynamics and other unknown external disturbances. Numerical simulations are provided to verify the performance of proposed controller in MATLAB. (C) 2016 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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