Boundary constrained control of a flexible Timoshenko arm
- Resource Type
- Conference
- Authors
- Ma, Yonghao; Zhao, Zhijia; Lan, Xuejing; He, Xiuyu; He, Wei
- Source
- 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Automation (YAC), 2018 33rd Youth Academic Annual Conference of Chinese Association of. :52-56 May, 2018
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Vibrations
Control design
Strain
Stability analysis
Vibration control
Manipulators
Lyapunov methods
distributed parameter systems
vibration control
input constraint
boundary control
flexible Timoshenko arm
- Language
In this paper, we address the vibration control and angle positioning problem of a distributed parameter flexible Timoshenko arm system in the presence of input saturation constraint. The smooth hyperbolic tangent function is adopted to develop boundary controls for regulating the vibration and shear deformation, achieving the angle tracking and restricting the control input in the specified area. The proposed controls are able to make sure that the robotic manipulator is placed in the desired angular. Finally, simulation results are demonstrated for control performance verification.