Adaptive Robust Control for a Spatial Flexible Timoshenko Manipulator Subject to Input Dead-Zone

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 52; no. 3; pp. 1395 - 1404
• Main Authors: Chen, Shouyan, Zhao, Zhijia, Zhu, Dachang, Zhang, Chunliang, Li, Han-Xiong
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.03.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive systems; Control theory; Elastic deformation; flexible Timoshenko manipulator; input dead-zone; Manipulator dynamics; Manipulators; Nonlinearity; Robot arms; Robust control; Shear deformation; Stability analysis; Strain; Upper bounds; Vibration control; Vibrations
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2020.3020326

This article investigates the adaptive robust spatial vibration control for a flexible Timoshenko manipulator subject to input dead-zone nonlinearity characteristic. The "disturbance-like" terms and dead-zone nonlinearity are first incorporated into the context of control design, and the new boundary robust adaptive control laws are constructed to reduce the shear deformation and elastic oscillation, ensure the expected angle orientation, handle the input dead-zone, and estimate the upper bound of compound disturbances. The convergence of states and the stability of the system are analyzed and proven without simplifying the infinite dimensional dynamics. In the end, the effectiveness of the presented scheme is demonstrated by the result of simulation research.