Adaptive Iterative Learning Vibration Control of a Two-Link Rigid-Flexible Manipulator with Endpoint Input Saturation

被引：0
|
作者：
Zhou, Xingyu [1 ]
Wang, Haoping [1 ]
Tian, Yang [1 ]
Dai, Xisheng [2 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
[2] Guangxi Univ Sci & Technol, Sch Elect & Informat Engn, Liuzhou 545006, Peoples R China
来源：
PROCEEDINGS OF 2020 IEEE 9TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS'20) | 2020年
基金：
中国国家自然科学基金;
关键词：
Iterative learning vibration control; rigid-flexible manipulator; endpoint input saturation; convergence analysis; BOUNDARY CONTROL; SYSTEMS; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive iterative learning vibration control (AILVC) scheme is considered for a two-link rigid-flexible manipulator with endpoint input saturation. A PD-type AILVC law is designed for the coupled ordinary differential equation - partial differential equation dynamic model in the presence of time-varying disturbances and the distributed disturbance. Then, by utilizing the composite energy function approach and rigorous analysis, the tracking error is asymptotically guaranteed convergence to the angular position, and the vibration of the flexible link is suppressed simultaneously. Finally, the results of numerical simulations are given to demonstrate the validity of the proposed AILVC method.
引用
收藏
页码：544 / 549
页数：6
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