TY - JOUR
T1 - Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator
AU - Zhao, Zhijia
AU - He, Xiuyu
AU - Ahn, Choon Ki
N1 - Funding Information:
Manuscript received July 18, 2018; revised November 10, 2018 and January 21, 2019; accepted April 9, 2019. Date of publication May 7, 2019; date of current version March 17, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61803109, Grant 11832009, and Grant 61803111, in part by the Innovative School Project of Education Department of Guangdong under Grant 2017KQNCX153 and Grant 2017KZDXM060, in part by the Open Research Project of the State Key Laboratory of Industrial Control Technology under Grant ICT1900303, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor M. Basin. (Corresponding authors: Zhijia Zhao; Choon Ki Ahn.) Z. Zhao is with the School of Mechanical and Electrical Engineering, Advanced Technology Center for Special Equipment, Guangzhou University, Guangzhou 510006, China, and also with the Center for Intelligent Equipment and Network-Connected System, Guangzhou University, Guangzhou 510006, China (e-mail: zhjzhaoscut@163.com).
Publisher Copyright:
© 2013 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - This paper examines the boundary disturbance observer-based control for a vibrating single-link flexible manipulator system possessing external disturbances. Two new boundary anti-disturbance control strategies are presented to eliminate vibration, track disturbance, and determine angle position for the flexible manipulator system. Achieving rigorous analysis with no model reduction, the derived control can ensure the angle positioning and bounded stability in the controlled system. By appropriately designing parameters, the resulting simulation results can demonstrate the control performance.
AB - This paper examines the boundary disturbance observer-based control for a vibrating single-link flexible manipulator system possessing external disturbances. Two new boundary anti-disturbance control strategies are presented to eliminate vibration, track disturbance, and determine angle position for the flexible manipulator system. Achieving rigorous analysis with no model reduction, the derived control can ensure the angle positioning and bounded stability in the controlled system. By appropriately designing parameters, the resulting simulation results can demonstrate the control performance.
KW - Anti-disturbance control
KW - boundary control
KW - disturbance observer (DO)
KW - single-link flexible manipulator
KW - vibration control
UR - http://www.scopus.com/inward/record.url?scp=85103159356&partnerID=8YFLogxK
U2 - 10.1109/TSMC.2019.2912900
DO - 10.1109/TSMC.2019.2912900
M3 - Article
AN - SCOPUS:85103159356
VL - 51
SP - 2382
EP - 2390
JO - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
JF - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
SN - 1083-4427
IS - 4
M1 - 8708982
ER -