A robust observer design for a flexible manipulator based on a PDE model

This paper proposes a robust observer for a flexible single-link manipulator based on the partial differential equation (PDE) dynamic model. Unlike observers for the PDE model introduced by previous researchers, this observer is designed to estimate the distributed spatiotemporally varying states with unknown boundary disturbance and spatially distributed disturbance. The asymptotic stability of the proposed observer is proved by theoretical analysis and demonstrated by simulation results.

[1]  Rong-Jong Wai,et al.  Adaptive fuzzy-neural-network velocity sensorless control for robot manipulator position tracking , 2010 .

[2]  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).

[3]  Gholamreza Vossoughi,et al.  Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory , 2005, Robotica.

[4]  Linjun Zhang,et al.  Observer-based partial differential equation boundary control for a flexible two-link manipulator in task space , 2012 .

[5]  Tu Duc Nguyen,et al.  Observer design for a flexible robot arm with a tip load , 2005, Proceedings of the 2005, American Control Conference, 2005..

[6]  Nassim Khaled,et al.  Integrated controller-observer system for marine surface vessels , 2014 .

[7]  Chaio-Shiung Chen.  Supervisory adaptive tracking control of robot manipulators using interval type-2 TSK fuzzy logic system , 2011 .

[8]  Tu Duc Nguyen,et al.  Output tracking control of a flexible robot arm , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[9]  Ömer Morgül,et al.  Boundary control of a rotating shear beam with observer feedback , 2012 .

[10]  Concepción A. Monje,et al.  Tip position control of a lightweight flexible manipulator using a fractional order controller , 2007 .

[11]  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).

[12]  L. Meirovitch,et al.  Fundamentals of Vibrations , 2000 .

[13]  Jinkun Liu,et al.  Nonlinear PDE observer design for a flexible two-link manipulator , 2012, 2012 American Control Conference (ACC).

[14]  Seyed Mahdi Hashemi,et al.  Low-complexity linear parameter-varying modeling and control of a robotic manipulator , 2012 .

[15]  Christopher D. Rahn,et al.  Mechatronic control of distributed noise and vibration , 2001 .

[16]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[17]  Sung Jin Yoo,et al.  Output Feedback Dynamic Surface Control of Flexible-Joint Robots , 2008 .

[18]  J. Prevost,et al.  A coupled sliding-surface approach for the trajectory control of a flexible-link robot based on a distributed dynamic model , 2005 .

[19]  Yeng Chai Soh,et al.  High‐gain observer with higher order sliding mode for state and unknown disturbance estimations , 2014 .

[20]  Junmin Wang,et al.  Observer-based tracking controller design for networked predictive control systems with uncertain Markov delays , 2012, 2012 American Control Conference (ACC).

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

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

[23]  Shuzhi Sam Ge,et al.  Dynamics and Control of Mechanical Systems in Offshore Engineering , 2013 .