Vibration suppression and boundary control for nonlinear flexible rotating manipulator in three-dimensional space subject to output restrictions

We investigate the issue of vibration suppression and boundary control for nonlinear flexible rotating manipulator (FRM) in three-dimensional (3D) space subject to output restrictions. Considering partial differential equations (PDEs) model, we devise a boundary control approach to suppress distribu...

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Bibliographic Details
Published inCommunications in nonlinear science & numerical simulation Vol. 120; p. 107151
Main Authors Wang, Jiacheng, Liu, Jinkun, Ji, Biao, He, Yundong, Xia, Sigang, Zhou, Yongping
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.06.2023
Subjects
Flexible rotating manipulator
Output constraints
Partial differential equation
Vibration suppression
Flexible rotating manipulator
Vibration suppression
Output constraints
Partial differential equation
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Summary:We investigate the issue of vibration suppression and boundary control for nonlinear flexible rotating manipulator (FRM) in three-dimensional (3D) space subject to output restrictions. Considering partial differential equations (PDEs) model, we devise a boundary control approach to suppress distributed elastic deformation and vibration, to ensure the base and link reaches the desired angle. Barrier Lyapunov function (BLF) is applied to keep the output signal within a safe and adjustable range. Finally, we perform digital simulation to verify the validity of the designed control strategy.
ISSN:1007-5704
1878-7274
DOI:10.1016/j.cnsns.2023.107151