Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator

Abstract

In this study, we aim to construct the boundary robust adaptive control for weakening the vibration of the flexible Timoshenko manipulator in the presence of unknown disturbances. By Lyapunov’s direct method, the adaptive controllers and disturbance observers are exploited to achieve the angle tracking and handle the external disturbances. With the suggested adaptive laws and disturbance observers, the controlled system with both parametric and disturbance uncertainties is guaranteed to be uniformly bounded. Finally, simulation results are provided to illustrate the applicability and effectiveness of the proposed control.

Robust Global Boundary Vibration Control of Uncertain Timoshenko Beam With Exogenous Disturbances

“…However, there has been little consideration of using GSMC for distributed parameter system (DPS). It is due to the existence of PDE form in the DPS dynamics, such that GSMC for DPS become more difficult and complicated In another hand, for the sake of Timoshenko beam, vibration control is achieved under input backlash [15], uncertainties [16], a cooperative control problem [17], input and output constraint [18], input dead zone [19], piezoelectric actuators [20], optimal piezoelectric vibration control [21], output constraint and input backlash [22], contact-force control problem [23].…”