Adaptive Robust Control for a Spatial Flexible Timoshenko Manipulator Subject to Input Dead-Zone

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

10 Scopus Citations
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Author(s)

  • Shouyan Chen
  • Zhijia Zhao
  • Dachang Zhu
  • Chunliang Zhang
  • Han-Xiong Li

Detail(s)

Original languageEnglish
Pages (from-to)1395-1404
Journal / PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume52
Issue number3
Online published17 Sep 2020
Publication statusPublished - Mar 2022

Abstract

This article investigates the adaptive robust spatial vibration control for a flexible Timoshenko manipulator subject to input dead-zone nonlinearity characteristic. The "disturbance-like" terms and dead-zone nonlinearity are first incorporated into the context of control design, and the new boundary robust adaptive control laws are constructed to reduce the shear deformation and elastic oscillation, ensure the expected angle orientation, handle the input dead-zone, and estimate the upper bound of compound disturbances. The convergence of states and the stability of the system are analyzed and proven without simplifying the infinite dimensional dynamics. In the end, the effectiveness of the presented scheme is demonstrated by the result of simulation research.

Research Area(s)

  • Manipulator dynamics, Vibrations, Strain, Adaptive systems, Robust control, Adaptive control, flexible Timoshenko manipulator, input dead-zone, vibration control, BOUNDARY CONTROL, STABILIZATION, DISTURBANCE, COMPENSATION, SYSTEMS, DESIGN

Citation Format(s)

Adaptive Robust Control for a Spatial Flexible Timoshenko Manipulator Subject to Input Dead-Zone. / Chen, Shouyan; Zhao, Zhijia; Zhu, Dachang; Zhang, Chunliang; Li, Han-Xiong.

In: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 52, No. 3, 03.2022, p. 1395-1404.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review