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Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator

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  • Jianing Zhang
  • Ge Ma
  • Zhifu Li

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.

Suggested Citation

  • Jianing Zhang & Ge Ma & Zhifu Li, 2018. "Boundary Robust Adaptive Control of a Flexible Timoshenko Manipulator," Complexity, Hindawi, vol. 2018, pages 1-10, November.
    • Handle: RePEc:hin:complx:7928495
    DOI: 10.1155/2018/7928495
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    References listed on IDEAS

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    1. Zhijie Liu & Jinkun Liu & Wei He, 2017. "Vibration control of a flexible aerial refuelling hose with input saturation," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(5), pages 971-983, April.
    2. Zhi-Jia Zhao & Yu Liu & Fang Guo & Yun Fu, 2017. "Modelling and control for a class of axially moving nonuniform system," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(4), pages 849-861, March.
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