Back-stepping control of two-link flexible manipulator based on an extended state observer

被引：70
|
作者：
Yang, Hongjiu [1 ]
Yu, Yang [1 ]
Yuan, Yuan [2 ]
Fan, Xiaozhao [1 ]
机构：
[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
ADVANCES IN SPACE RESEARCH | 2015年 / 56卷 / 10期
基金：
中国国家自然科学基金;
关键词：
Flexible manipulator; Trajectory tracking control; Extended state observer; Back-stepping control; DISTURBANCE REJECTION CONTROL; BOUNDARY CONTROL; TELEOPERATION; TRACKING;
D O I：
10.1016/j.asr.2015.07.036
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
In this paper, we consider trajectory tracking control of a two-link flexible manipulator model in space. Two variables of joint angle and elastic deformation are partly decoupled by a nonlinear decoupling feedback control method. An extended state observer is introduced to estimate nonlinear terms of the two-link flexible manipulator system. Based on a back-stepping method, a nonlinear controller is designed for the flexible manipulator system. Finally, some simulation results are given to demonstrate the effectiveness of the developed techniques in this paper. (C) 2015 COSPAR. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：2312 / 2322
页数：11
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