LMI-based boundary control of flexible manipulator with external disturbance

In this paper, we address the LMI-based boundary control issue of a flexible manipulator subject to external disturbance. First, the dynamics of the system is characterised by several partial differential equations (PDEs). Second, in order to realise the disturbance rejection, we propose two disturb...

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Bibliographic Details
Published inInternational journal of control Vol. 98; no. 4; pp. 868 - 878
Main Authors Ji, Jiewen, Zhang, Qingzhen, Liu, Jinkun
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 03.04.2025
Taylor & Francis Ltd
Subjects
Boundary control
Disturbance observers
external disturbance
Flexible manipulator
Flexible manipulators
Linear matrix inequalities
LMI
Partial differential equations
Robot arms
Simulation
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Summary:In this paper, we address the LMI-based boundary control issue of a flexible manipulator subject to external disturbance. First, the dynamics of the system is characterised by several partial differential equations (PDEs). Second, in order to realise the disturbance rejection, we propose two disturbance observers. Based on these observers, two boundary control protocols are designed via the linear matrix inequality (LMI) method for suppressing elastic vibration and regulating the angle of the joint. A significant feature of LMI is that the control gains can be efficiently solved. Finally, some simulation examples illustrate the effectiveness of the proposed theoretical results.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2024.2373785