Control of a Flexible Manipulator System with Finite-Time Disturbance Observer

Shuang  Zhang; Rui  Liu; Xinyu  Qian

doi:10.6180/jase.202006_23(2).0011

Control of a Flexible Manipulator System with Finite-Time Disturbance Observer

Electrical Engineering Mathematics / Statistics

Shuang Zhang This email address is being protected from spambots. You need JavaScript enabled to view it.¹, Rui Liu² and Xinyu Qian³

¹School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
²Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, University of Science and Technology Beijing, Beijing 100083, China
³Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China

Received: December 26, 2019
Accepted: January 14, 2020
Publication Date: June 1, 2020

Download Citation: ||https://doi.org/10.6180/jase.202006_23(2).0011

ABSTRACT

This paper mainly studies how to control the flexible manipulator effectively, which can drive the flexible manipulator to reach the angular and restrain the vibration of the manipulator simultaneously. Firstly, two disturbance observers based on partial differential equations (PDEs) model are improved to ensure its convergence in finite time. Then, on the basis of the disturbance observer, two active boundary controllers are proposed to achieve the control objective. Finally, the stability and effectiveness of the designed controller are verified by theoretical analysis and simulation.

Keywords: Flexible manipulator, vibration control, finite-time disturbance observer, distributed parameter system (DPS)

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