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Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator
- Authors
- Zhao, Zhijia; He, Xiuyu; An, Choon Ki
- Issue Date
- Apr-2021
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Vibrations; Control systems; Manipulator dynamics; Electrical engineering; Disturbance observers; Industries; Anti-disturbance control; boundary control; disturbance observer (DO); single-link flexible manipulator; vibration control
- Citation
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, v.51, no.4, pp.2382 - 2390
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
- Volume
- 51
- Number
- 4
- Start Page
- 2382
- End Page
- 2390
- ISSN
- 2168-2216
- Abstract
- This paper examines the boundary disturbance observer-based control for a vibrating single-link flexible manipulator system possessing external disturbances. Two new boundary anti-disturbance control strategies are presented to eliminate vibration, track disturbance, and determine angle position for the flexible manipulator system. Achieving rigorous analysis with no model reduction, the derived control can ensure the angle positioning and bounded stability in the controlled system. By appropriately designing parameters, the resulting simulation results can demonstrate the control performance.
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Related Researcher
- Ahn, Choon ki
- College of Engineering (School of Electrical Engineering)