Singular Perturbation Approach based Boundary Control of a Flexible Manipulator with High Gain Observer

被引：0
|
作者：
Liu, Zhijie [1 ]
Yang, Hongjun [2 ]
Yang, Yan [3 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
[3] Xidian Univ, Sch Electromech Engn, Xian 710071, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
基金：
中国国家自然科学基金;
关键词：
Boundary control; flexible manipulator; PDE model; high gain observer; singular perturbation; TRACKING CONTROL; VIBRATION CONTROL; BEAM; CRANE;
D O I：
10.23919/chicc.2019.8866350
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, boundary control of a flexible manipulator is developed on the basis of the dynamic, partial differential equation (PDE) model. One of the main contributions is that the high gain observer is first applied to the PDE model of a flexible manipulator instead of measuring link velocity and end actuator velocity. In addition, using singular perturbation approach the PDE model is divided into two simpler subsystems to simplify the control design. Based on the proposed observer and decoupled PDE model, a sliding mode boundary control is designed to regulate angular position and suppress elastic vibration simultaneously. Numerical simulations demonstrate the effectiveness of the proposed scheme.
引用
收藏
页码：4479 / 4484
页数：6
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