Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator

Zhijia Zhao, Choon Ki Ahn

Research output: Contribution to journalArticle

Abstract

This article focuses on the angle positioning and vibration isolation of flexible Timoshenko manipulators possessing extraneous disturbances and saturation nonlinearities. Boundary control strategies with auxiliary systems are presented to achieve the expected angle, suppress the shear deformation and elastic oscillation, and mitigate the saturation nonlinearities effect. With the constructed controllers, a controlled system is ensured and certified to be exponentially stable. The simulation and comparison results show the control performance of the suggested approach.

Original languageEnglish
Pages (from-to)1098-1114
Number of pages17
JournalInternational Journal of Robust and Nonlinear Control
Volume30
Issue number3
DOIs
Publication statusPublished - 2020 Feb 1

Fingerprint

Vibration control
Manipulators
Robotics
Flexible manipulators
Control nonlinearities
Shear deformation
Controllers

Keywords

  • antisaturation control
  • boundary control
  • Lyapunov direct method
  • Timoshenko manipulator
  • vibration control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator. / Zhao, Zhijia; Ahn, Choon Ki.

In: International Journal of Robust and Nonlinear Control, Vol. 30, No. 3, 01.02.2020, p. 1098-1114.

Research output: Contribution to journalArticle

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