Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator
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 track...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/7928495 |
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| _version_ | 1832559363698458624 |
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| author | Jianing Zhang Ge Ma Zhifu Li |
| author_facet | Jianing Zhang Ge Ma Zhifu Li |
| author_sort | Jianing Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-917131294cad492c9d341f9baa0aa9f8 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-917131294cad492c9d341f9baa0aa9f82025-02-03T01:30:14ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/79284957928495Boundary Robust Adaptive Control of a Flexible Timoshenko ManipulatorJianing Zhang0Ge Ma1Zhifu Li2School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, ChinaSchool of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, ChinaSchool of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, ChinaIn 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.http://dx.doi.org/10.1155/2018/7928495 |
| spellingShingle | Jianing Zhang Ge Ma Zhifu Li Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator Complexity |
| title | Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator |
| title_full | Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator |
| title_fullStr | Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator |
| title_full_unstemmed | Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator |
| title_short | Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator |
| title_sort | boundary robust adaptive control of a flexible timoshenko manipulator |
| url | http://dx.doi.org/10.1155/2018/7928495 |
| work_keys_str_mv | AT jianingzhang boundaryrobustadaptivecontrolofaflexibletimoshenkomanipulator AT gema boundaryrobustadaptivecontrolofaflexibletimoshenkomanipulator AT zhifuli boundaryrobustadaptivecontrolofaflexibletimoshenkomanipulator |