Output Constraint Boundary Control of a Flexible Manipulator
- Resource Type
- Conference
- Authors
- Chen, Xiongbin; WU, Yilin; Xu, Ruifeng; Qu, Hongyi; Liu, Yu; Yao, Ke
- Source
- 2020 39th Chinese Control Conference (CCC) Chinese Control Conference (CCC), 2020 39th. :797-802 Jul, 2020
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Manipulators
Vibrations
Disturbance observers
Control design
Lyapunov methods
Stability analysis
Distributed parameter system
Vibration control
Output constraint
Disturbance observer
- Language
- ISSN
- 1934-1768
In this paper, in order to suppress the vibration and track the desired angle of a flexible manipulator effected by output constraints and external disturbances, the novel restricted boundary control laws with disturbance observers are proposed. The barrier Lyapunov function is adopted to limit the tracking errors of the angle and the end-point displacement. Disturbance observers are designed to reject external disturbances. For the closed-loop system, the stability is proven. Numerical simulations show the feasibility of the proposed control schemes.