Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator

This article involves an adaptive robust barrier-based control of a three-dimensional riser system subject to system uncertainties and output constraints. A barrier-based Lyapunov function and a dynamical online update technique are merged to develop new adaptive robust control schemes for dampening the vibration, compensating for parametric uncertainties, and dealing with the constraints in the system. A rigorous Lyapunov analysis is exploited to guarantee the uniformly bounded stability in the controlled system. Finally, the efficacy of the designed approach is validated via simulation results.

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“…Lemma 2 (46). Let 𝜒(s, t) ∈ R with (s, t) ∈ [0, l] × [0, +∞) satisfy the condition 𝜒(0, t) = 0, then we derive…”

Section: Preliminariesmentioning

confidence: 99%

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

Tan

Liu

et al. 2021

Intl J Robust & Nonlinear

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“…Thus, many vibration control algorithms have gradually been applied to the robots, drilling and rolling mill to realize active vibration suppression. 18,19 Zhang and Tong 20 designed an extended state observer and linear quadratic based speed controller for torsional vibration suppression. A proportional-integral-derivative (PID) based sliding mode controller using an observer was also proposed to prevent the lateral movement of strips.…”

Section: Introductionmentioning

confidence: 99%

“…However, with enhancement of the product accuracy requirements of plate and strip users, the strengthening of the productivity of iron and steel enterprises, and the dynamic and changing rolling environment, passive vibration control methods can no longer meet the requirements of modern industrial production. Thus, many vibration control algorithms have gradually been applied to the robots, drilling and rolling mill to realize active vibration suppression 18,19 . Zhang and Tong 20 designed an extended state observer and linear quadratic based speed controller for torsional vibration suppression.…”

Section: Introductionmentioning

confidence: 99%

Modeling and vertical torsional coupling vibration control of the rolling mill with full state constraints

Qian

Chen

et al. 2022

Intl J Robust & Nonlinear

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This article establishes a mechanical-electrical-hydraulic vertical torsional coupling vibration mathematical model, and investigates its vibration suppression control strategy with time varying full state constraints for the rolling mill vertical torsional coupling vibration system. Firstly, the mechanical-electrical-hydraulic vertical torsional coupling vibration nonlinear model is developed using dynamic theory, which takes into account nonlinear damping, nonlinear rolling force and the coupling relationship between the vertical vibration system and the torsional vibration system. Then, nonlinear constraint transformation functions and coordinate transformations are implemented to remove the feasibility condition in handling the full state constraints problem, and neural networks are used to approximate unknown nonlinear functions. Furthermore, the vibration suppression control algorithm of the mechanical-electrical-hydraulic vertical torsional coupling system is designed with the specific sequence backstepping method and dynamic surface control technique, which can resolve the problem of nesting in the controller design process. Finally, the effective of the proposed method on vibration suppression is verified by the simulation.

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“…Various feedback control and open-loop control methods have been used in vibration suppression of flexible-link manipulators. The feedback control technique measures the payload motion to reduce the vibration in a closed loop (Cao and Liu, 2019;Fareh et al, 2020;Han and Jia, 2020;He et al, 2020;Huang et al, 2019;Jiang et al, 2018;Li and Liu, 2020;Njeri et al, 2019;Pradhan and Subudhi, 2020;Qiu et al, 2019;Rahmani and Belkheiri, 2019;Wu et al, 2018;Yabuno and Kobayashi, 2020;Zhao and Ahn, 2020).…”

Section: Introductionmentioning

confidence: 99%

Vibration control of coupled Duffing oscillators in flexible single-link manipulators

Huang

2020

Journal of Vibration and Control

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Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.

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Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator

Cited by 21 publications

References 47 publications

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

Adaptive robust barrier‐based control of a 3D flexible riser system subject to boundary displacement constraints

Modeling and vertical torsional coupling vibration control of the rolling mill with full state constraints

Vibration control of coupled Duffing oscillators in flexible single-link manipulators

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