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

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 n...