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Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator
Author(s) -
Zhao Zhijia,
Ahn Choon Ki
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4810
Subject(s) - control theory (sociology) , vibration , vibration isolation , boundary (topology) , oscillation (cell signaling) , vibration control , timoshenko beam theory , boundary value problem , robot manipulator , computer science , control engineering , engineering , control (management) , mathematics , physics , mathematical analysis , acoustics , artificial intelligence , biology , genetics
Summary This article focuses on the angle positioning and vibration isolation of flexible Timoshenko manipulators possessing extraneous disturbances and saturation nonlinearities. Boundary control strategies with auxiliary systems are presented to achieve the expected angle, suppress the shear deformation and elastic oscillation, and mitigate the saturation nonlinearities effect. With the constructed controllers, a controlled system is ensured and certified to be exponentially stable. The simulation and comparison results show the control performance of the suggested approach.