Robust adaptive vibration control for an uncertain flexible Timoshenko robotic manipulator with input and output constraints

Xiuyu He; Wei He; Changyin Sun

doi:10.1080/00207721.2017.1360963

Robust adaptive vibration control for an uncertain flexible Timoshenko robotic manipulator with input and output constraints

Xiuyu He
, Wei He
, Changyin Sun

College of Artificial Intelligence and Robotics

University of Science and Technology Beijing

Research output: Contribution to journal › Article › peer-review

57 Scopus citations

Abstract

The problems of the constraints and the vibration suppression are investigated for the flexible Timoshenko robotic manipulator in this paper. Robust adaptive boundary control laws with the disturbance observes are designed to guarantee the convergence of the feedback flexible Timoshenko robotic manipulator system with the uncertain parameters and the states are proven to be uniform bounded. In addition, the proposed boundary controls are verified to be effectiveness by the numeral experiments.

Original language	English
Pages (from-to)	2860-2870
Number of pages	11
Journal	International Journal of Systems Science
Volume	48
Issue number	13
DOIs	https://doi.org/10.1080/00207721.2017.1360963
State	Published - 3 Oct 2017

Keywords

Flexible Timoshenko robotic manipulator
input backlash
output constraint
robust adaptive control

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10.1080/00207721.2017.1360963

Cite this

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abstract = "The problems of the constraints and the vibration suppression are investigated for the flexible Timoshenko robotic manipulator in this paper. Robust adaptive boundary control laws with the disturbance observes are designed to guarantee the convergence of the feedback flexible Timoshenko robotic manipulator system with the uncertain parameters and the states are proven to be uniform bounded. In addition, the proposed boundary controls are verified to be effectiveness by the numeral experiments.",

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AB - The problems of the constraints and the vibration suppression are investigated for the flexible Timoshenko robotic manipulator in this paper. Robust adaptive boundary control laws with the disturbance observes are designed to guarantee the convergence of the feedback flexible Timoshenko robotic manipulator system with the uncertain parameters and the states are proven to be uniform bounded. In addition, the proposed boundary controls are verified to be effectiveness by the numeral experiments.

KW - Flexible Timoshenko robotic manipulator

KW - input backlash

KW - output constraint

KW - robust adaptive control

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Robust adaptive vibration control for an uncertain flexible Timoshenko robotic manipulator with input and output constraints

Abstract

Keywords

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