Boundary Output Feedback Control for a Flexible Two-Link Manipulator System With High-Gain Observers

Zhang, Shuang; Liu, Rui; Peng, Kaixiang; He, Wei

doi:10.1109/tcst.2019.2958017

Cited by 27 publications

(5 citation statements)

References 18 publications

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“…The primary objective of this study is to formulate a boundary control law that can effectively regulate the attitude of the central body while concurrently suppressing truss vibration. Boundary control, recognized for its applicability in distributed parameter systems, has demonstrated successful implementation in various domains, including robot control [33] and cable elevator control [34], among others. This section is dedicated to the development of a boundary control law tailored for the flexible satellite, utilizing the coupled ODE-PDE model delineated in Equations ( 18) and (21).…”

Section: Control Designmentioning

confidence: 99%

Continuum Modeling and Boundary Control of a Satellite with a Large Space Truss Structure

Cao,

Yang,

Liu

2024

Aerospace

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Due to its advantages of easy deployment and high stiffness-to-mass ratio, the utilization of truss structures for constructing large satellites presents an appealing solution for modern space missions, including Earth observation and astronomy. However, the dimensions of the traditional finite element model for a satellite with a large space truss structure become exceedingly large as the structure’s size increases. The control system design process based on the finite element model is complex and time-consuming. This paper employs the continuum modeling method to represent the truss structure as a continuous entity. The bending vibrations of the truss structure are encapsulated by a simplified partial differential equation (PDE), as opposed to the more intricate traditional finite element model. Simultaneously, the satellite’s attitude motion is characterized by an ordinary differential equation (ODE). Building upon this coupled PDE-ODE model, a boundary control law that only requires sensors/actuators at the boundary is formulated to effectively mitigate structural vibrations and regulate the satellite’s attitude. The exponential stability of this closed-loop system is scrutinized using Lyapunov’s direct method. The simulation results affirm that the continuum modeling method is indeed well-suited for satellites endowed with substantial truss structures, and the proposed boundary law proves to be highly effective in both attitude tracking and vibration suppression.

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Section: Control Designmentioning

confidence: 99%

Continuum Modeling and Boundary Control of a Satellite with a Large Space Truss Structure

Cao,

Yang,

Liu

2024

Aerospace

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“…In this paper, we focus on improving the transient performance of a two-link flexible robotic manipulator. Different from the structure of a single-link flexible manipulator, the two-link flexible manipulator has a more complex nonlinear model and stronger mutual link coupling effect [48]. Moreover, in practical applications, the elastic deformation and high-frequency vibration of the flexible connecting rod will also increase the complexity of real-time control.…”

Section: Introductionmentioning

confidence: 99%

Broad learning control of a two-link flexible manipulator with prescribed performance and actuator faults

Niu

Kong

et al. 2023

Robotica

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In this paper, we present a broad learning control method for a two-link flexible manipulator with prescribed performance (PP) and actuator faults. The trajectory tracking errors are processed through two consecutive error transformations to achieve the constraints in terms of the overshoot, transient error, and steady-state error. And the barrier Lyapunov function is employed to implement constraints on the transition state variable. Then, the improved radial basis function neural networks combined with broad learning theory are constructed to approximate the unknown model dynamics of flexible robotic manipulator. The proposed fault-tolerant PP control cannot only ensure tracking errors converge into a small region near zero within the preset finite time but also address the problem caused by actuator faults. All the closed-loop error signals are uniformly ultimately bounded via the Lyapunov stability theory. Finally, the feasibility of the proposed control is verified by the simulation results.

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“…In practice, it is difficult for us to acquire accurate dynamic models of teleoperation systems due to uncertainties in flexibilities and frictions of nonlinear robots [36]- [41]. Many approaches have been proposed to deal with uncertainties in nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neural Network Fixed-Time Control Design for Bilateral Teleoperation With Time Delay

Zhang

Yuan

et al. 2022

IEEE Trans. Cybern.

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In this paper, subject to time-varying delay and uncertainties in dynamics, we propose a novel adaptive fixed-time control strategy for a class of nonlinear bilateral teleoperation systems. First, an adaptive control scheme is applied to estimate the upper bound of delay, which can resolve the predicament that delay has significant impacts on stability of bilateral teleoperation systems. Then, radial basis function neural networks (RBFNNs) are utilized for estimating uncertainties in bilateral teleoperation systems including dynamics, operator and environmental models. Novel adaptation laws are introduced to address systems uncertainties in the fixed-time convergence settings. Next, a novel adaptive fixed-time neural network control scheme is proposed. Based on Lyapunov stability theory, the bilateral teleoperation systems are proved to be stable in fixed time. Finally, simulations and experiments are presented to verify the validity of the control algorithm.Index Terms-Teleoperation, neural networks, fixed-time control, uncertainties, time delay.

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Boundary Output Feedback Control for a Flexible Two-Link Manipulator System With High-Gain Observers

Cited by 27 publications

References 18 publications

Continuum Modeling and Boundary Control of a Satellite with a Large Space Truss Structure

Continuum Modeling and Boundary Control of a Satellite with a Large Space Truss Structure

Broad learning control of a two-link flexible manipulator with prescribed performance and actuator faults

Adaptive Neural Network Fixed-Time Control Design for Bilateral Teleoperation With Time Delay

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