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Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator

Authors
Zhao, ZhijiaHe, XiuyuAn, Choon Ki
Issue Date
4월-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
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/140924
DOI
10.1109/TSMC.2019.2912900
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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