Observer design for a flexible-link manipulator with PDE model

Abstract This paper focuses on designing an observer for a flexible-link manipulator based on the partial differential equation (PDE) dynamic model. The main contribution of this observer׳s novel design is its ability to estimate vibratory, infinite dimensional states requiring only the practical measurement values of boundary positions. The proposed observer is proven asymptotically stable by theoretical analysis. The vibration of the flexible link is eliminated with a PD control. Favorable performance of the closed-loop system is demonstrated by simulations.

[1]  Bruno Siciliano,et al.  Tracking control of flexible robot arms , 1997, 1997 European Control Conference (ECC).

[2]  Shuzhi Sam Ge,et al.  Boundary control of a flexible marine riser with vessel dynamics , 2010, Proceedings of the 2010 American Control Conference.

[3]  Andrey Smyshlyaev,et al.  Adaptive Control of Parabolic PDEs , 2010 .

[4]  Victor Etxebarria,et al.  SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN , 2005, Cybern. Syst..

[5]  Shuzhi Sam Ge,et al.  Boundary Control of a Coupled Nonlinear Flexible Marine Riser , 2010, IEEE Transactions on Control Systems Technology.

[6]  Linjun Zhang,et al.  Adaptive boundary control for flexible two-link manipulator based on partial differential equation dynamic model , 2013 .

[7]  Zafer Bingul,et al.  PID and state feedback control of a single-link flexible joint robot manipulator , 2011, 2011 IEEE International Conference on Mechatronics.

[8]  Mehrdad N. Ghasemi-Nejhad,et al.  Adaptive Control of Flexible Active Composite Manipulators Driven by Piezoelectric Patches and Active Struts With Dead Zones , 2008, IEEE Transactions on Control Systems Technology.

[9]  Jimoh O. Pedro,et al.  Hybrid PD/PID controller design for two-link flexible manipulators , 2011, 2011 8th Asian Control Conference (ASCC).

[10]  Shuzhi Sam Ge,et al.  Improving regulation of a single-link flexible manipulator with strain feedback , 1998, IEEE Trans. Robotics Autom..

[11]  Shuzhi Sam Ge,et al.  Boundary control of a flexible marine installation system , 2011, 49th IEEE Conference on Decision and Control (CDC).

[12]  Jinkun Liu,et al.  Optimal trajectory control of flexible two-link manipulator based on PDE model , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[13]  Olav Egeland,et al.  Tracking and observer design for a motorized Euler-Bernoulli beam , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[14]  M. Krstić,et al.  Boundary Control of PDEs , 2008 .

[15]  Costas J. Spanos,et al.  Advanced process control , 1989 .

[16]  Heidar Ali Talebi,et al.  Tracking control of flexible-link manipulators based on environmental force disturbance observer , 2010, 49th IEEE Conference on Decision and Control (CDC).

[17]  Peter Eberhard,et al.  DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATORS, A LITERATURE REVIEW , 2006 .

[18]  M. Krstić.  Boundary Control of PDEs: A Course on Backstepping Designs , 2008 .

[19]  M. Vakil,et al.  A New Method for Dynamic Modeling of Flexible-Link Flexible-Joint Manipulators , 2012 .

[20]  Xiaoping Zhang,et al.  PDE modeling and control of a flexible two-link manipulator , 2005, IEEE Transactions on Control Systems Technology.

[21]  Deng Jun,et al.  Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance , 2011 .

[22]  S. Sengupta,et al.  Analysis and Control of Magnetizing Switching Inrush in Power Transformer , 2016 .

[23]  Farzin Piltan,et al.  Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator , 2013 .