Boundary control and exponential stability of a flexible Timoshenko beam manipulator with measurement delays

Han, Fengming; Jia, Yingmin

doi:10.1049/iet-cta.2019.0590

Cited by 10 publications

(9 citation statements)

References 40 publications

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“…Marine riser is a typical flexible structure modeled as Euler-Bernoulli beam, because the ratio of its diameter to length is small. Flexible structures are widespread and considered as key parts in modern mechanical systems, such as engineering applications, manipulators [3,4], strings [5] and marine risers [6][7][8]. The dynamic behavior of riser is described as a distributed parameter system which is composed of partial differential equations (PIDEs) and ordinary differential equations (ODEs) mathematically.…”

Section: Introductionmentioning

confidence: 99%

Active boundary control of vibrating marine riser with constrained input in three-dimensional space

et al. 2021

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The vibration control of three-dimensional flexible marine riser system with constrained control input is studied in this paper. Combining backstepping method and Lyapunov direct method, an appropriate boundary control which includes smooth hyperbolic tangent function is employed to reduce the vibration of riser system. An auxiliary system which is developed based on Nussbaum function is proposed to tackle with nonlinear constrained input. The closed-loop system is stable ultimately, and the displacement of riser is uniformly bounded which can be proven by Lyapunov synthesis without any discretization or simplification of the dynamic in the time and space. Moreover, the effectiveness of proposed boundary control is illustrated by comparing with SMC (sliding mode control) in the simulation part. The simulation results show that the proposed control can achieve better control performance with a constrained input.

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Section: Introductionmentioning

confidence: 99%

Active boundary control of vibrating marine riser with constrained input in three-dimensional space

et al. 2021

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“…Moreover, without using external assistant devices such as piezoelectric actuators, and unnecessary to assume unknown variables, the boundary controller has been investigated for stabilizing infinite-dimensional systems [30]- [32]. On the other hand, the strict stability of controller design is shown for kinds of flexible structures [33]- [36]. However, to the best of our knowledge, research on aerial manipulation system equipped with a flexible arm by applying a controller based on an infinite-dimensional model has not been reported.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Quadrotor UAV Equipped With a Flexible Arm in Vertical Plane

et al. 2021

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In the field of unmanned aerial vehicles (UAVs), aerial manipulations are receiving considerable attention because of their potential application to tasks such as pick and place, detection, and inspection. However, short flight endurance times and concerns about the safety to surroundings during interacting heavily limit the expansion of aerial manipulations in real implementations. To overcome these challenges, this paper focuses on a system in which a quadrotor UAV is equipped with a lightweight and flexible arm. Based on the infinite-dimensional dynamics, the mathematic model of system is described by a hybrid partial differential equation-ordinary differential equation (PDE-ODE). An easily implementable controller is derived from a Lyapunov functional construction related to the energy of the system. The proposed controller ensures global Lyapunov stability for nonlinear system and local asymptotic stability for the linearized system. Further, it is shown that the proposed controller realizes stable motion of the aerial manipulator as well as vibration control of the flexible arm. Finally, numerical simulations are conducted to investigate the validity of the proposed controller.

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“…The dynamic model of the flexible manipulator system was established, and the dynamic characteristics were analyzed in addition to different methods in [ 18 , 19 , 20 ]. In [ 21 , 22 ], the boundary control of flexible Timoshenko arm was studied and analyzed. Furthermore, the position control method and residual vibration of the flexible system were analyzed in [ 23 , 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

et al. 2021

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It is challenging to accurately judge the actual end position of the manipulator—regarded as a rigid body—due to the influence of micro-deformation. Its precise and efficient control is a crucial problem. To solve the problem, the Hamilton principle was used to establish the partial differential equation (PDE) dynamic model of the manipulator system based on the infinite dimension of the working environment interference and the manipulator space. Hence, it resolves the common overflow instability problem in the micro-deformable manipulator system modeling. Furthermore, an infinite-dimensional radial basis function neural network compensator suitable for the dynamic model was proposed to compensate for boundary and uncertain external interference. Based on this compensation method, a distributed boundary proportional differential control method was designed to improve control accuracy and speed. The effectiveness of the proposed model and method was verified by theoretical analysis, numerical simulation, and experimental verification. The results show that the proposed method can effectively improve the response speed while ensuring accuracy.

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Boundary control and exponential stability of a flexible Timoshenko beam manipulator with measurement delays

Cited by 10 publications

References 40 publications

Active boundary control of vibrating marine riser with constrained input in three-dimensional space

Active boundary control of vibrating marine riser with constrained input in three-dimensional space

Modeling and Control of a Quadrotor UAV Equipped With a Flexible Arm in Vertical Plane

The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

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