Robust boundary control of flexible manipulators based on disturbance observer
CHEN Dong
LOU Xu-yang
CUI Bao-tong
Abstract：In this paper,the boundary control of a flexible manipulator system with unknown boundary disturbances and unknown distributed disturbances is studied.In order to suppress the vibration of the flexible manipulator,a robust boundary controller with a disturbance observer based on the infinite dimensional partial differential equation model by Hamilton principle is designed to control the flexible manipulator.The stability and uniform boundedness of the control system are proven by using the Lyapunov method.The proposed control method requires fewer measured information and possesses robustness to unknown disturbance.Besides,the proposed boundary control strategy can ensure the vibration suppression of the flexible manipulator and the closed-loop system to be uniformly ultimately bounded.Finally,the effectiveness of the proposed controller to suppress the vibration of the flexible arm is verified through numerical simulations.
Keywords：flexible manipulatorboundary controlvibration controldisturbance observerinfinite dimensional system
Publication Date：2024-12-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 2269-2276 )