2018
DOI: 10.1049/iet-cta.2017.1017
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Boundary vibration control for a flexible Timoshenko robotic manipulator

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Cited by 32 publications
(11 citation statements)
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“…However, to the best of our knowledge, all the existing PDE models of flexible manipulators in other works are established based on the assumption that the initial point of the arm is motionless and the dynamics of the mobile carrier is thus neglected, which greatly simplifies the design of control laws. However, neglecting the movement of the mobile carrier will reduce the operation range of flexible links and limit the application range of the designed control schemes.…”
Section: Introductionmentioning
confidence: 99%
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“…However, to the best of our knowledge, all the existing PDE models of flexible manipulators in other works are established based on the assumption that the initial point of the arm is motionless and the dynamics of the mobile carrier is thus neglected, which greatly simplifies the design of control laws. However, neglecting the movement of the mobile carrier will reduce the operation range of flexible links and limit the application range of the designed control schemes.…”
Section: Introductionmentioning
confidence: 99%
“…In comparison with ODE models, PDE models can accurately describe the dynamic characters of flexible manipulators and increase the precision of the proposed controllers by preserving all modal information of the system. However, to the best of our knowledge, all the existing PDE models of flexible manipulators in other works [17][18][19][20] are established based on the assumption that the initial point of the arm is motionless and the dynamics of the mobile carrier is thus neglected, which greatly simplifies the design of control laws. However, neglecting the movement of the mobile carrier will reduce the operation range of flexible links and limit the application range of the designed control schemes.…”
Section: Introductionmentioning
confidence: 99%
“…There are many studies about the control of the flexible structures based on the hybrid PDE-ODE model [9][10][11][12][13][14][15][16][17][18][19]. However, these studies have been treated only the vibration suppression problem.…”
Section: Introductionmentioning
confidence: 99%
“…It will be a more sophisticated and challenging problem to consider the nonlinear coupling of elastic deflection, shear deformation, and angular position in the control. For those cases, the control design is documented in [20,21] to suppress the vibration and rotation of the system. In [20], for the flexible manipulator modeled as the Timoshenko beam, the boundary controllers are designed to eliminate the vibration and rotation of the system under external disturbances.…”
Section: Introductionmentioning
confidence: 99%
“…For those cases, the control design is documented in [20,21] to suppress the vibration and rotation of the system. In [20], for the flexible manipulator modeled as the Timoshenko beam, the boundary controllers are designed to eliminate the vibration and rotation of the system under external disturbances. However, in the aforesaid papers, there is no research taking into account the case that the parameters of the system and time-varying disturbances are unknown, which motivates us for this research.…”
Section: Introductionmentioning
confidence: 99%