End‐Point Regulation and Vibration Suppression of a Flexible Robotic Manipulator

• Published in: Asian journal of control Vol. 19; no. 1; pp. 245 - 254
• Main Authors: Zhang, Shuang, Huang, Deqing
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.01.2017
• Subjects: Closed loop systems; Flexible robotic manipulator, vibration control, adaptive control, distributed parameter system; Ordinary differential equations; Partial differential equations; Robotics
• ISSN: 1561-8625; 1934-6093
• DOI: 10.1002/asjc.1358

In this paper, end‐point regulation and vibration suppression are investigated for a flexible robotic manipulator subject to the external disturbances. The dynamics of the flexible robotic manipulator is represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Based on the Lyapunov's direct method, boundary control is developed to drive the manipulator to the desired set‐point and simultaneously suppress the vibrations of the flexible manipulator. Considering the unknown spatiotemporally varying disturbance, uniform boundedness of the closed‐loop system is achieved. The control performance of the closed‐loop system is guaranteed by suitably choosing the design parameters. Simulations are provided to illustrate the effectiveness of the proposed control.