Vibration Control for a Flexible Timoshenko Arm Subject to Constrained Input

This paper copes with the vibration reduction and angle positioning issues of a flexible Timoshenko arm system by developing a boundary vibration control strategy. Considering the influence of nonlinear input constraints, constrained boundary controllers are proposed by integrating smooth hyperbolic...

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Bibliographic Details
Published inIEEE access Vol. 7; pp. 42703 - 42709
Main Authors He, Xiuyu, Zhao, Zhijia
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
anti-saturation control
boundary control
Constraints
Control design
Control stability
Controllers
Elastic deformation
Lyapunov direct method
Lyapunov methods
Manipulators
Stability analysis
Strain
Timoshenko arm
Vibration control
Vibrations
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Summary:This paper copes with the vibration reduction and angle positioning issues of a flexible Timoshenko arm system by developing a boundary vibration control strategy. Considering the influence of nonlinear input constraints, constrained boundary controllers are proposed by integrating smooth hyperbolic tangent functions to reduce the elastic and shear deformations and achieve the angular tracking for the flexible link. Meanwhile, these controllers are constrained within the desired input limitations. Under the proposed controller, the theoretical analysis and simulations were made to present the stability of the system and the feasibility of the proposed control strategy.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2019.2908215