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Composite PDE Boundary Control of Flexible Manipulator Using Singular Perturbation Approach
Liu Zhijie,Liujin Kun * #
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
*Correspondence author
#Submitted by
Subject:
Funding: Research Fund for Doctoral Program of Higher Education of China （No.No. 20121102110008）, National Natural Science Foundation of China （No.No. 61374048）
Opened online:31 May 2016
Accepted by: none
Citation: Liu Zhijie,Liujin Kun.Composite PDE Boundary Control of Flexible Manipulator Using Singular Perturbation Approach[OL]. [31 May 2016] http://en.paper.edu.cn/en_releasepaper/content/4694618
 
 
In this paper, a new composite boundary controller for flexible manipulator is presented based on the partial differential equation (PDE) model. A key contribution of this paper is the introduction of singular perturbation approach to the PDE dynamic model of flexible manipulator, which results in two simpler subsystems-slow subsystem and fast subsystem. Considering the characteristics of flexible manipulators, a composite controller for the full model is proposed, which includes a position controller for the slow subsystem and a direct feedback controller for the fast subsystem to suppress the vibration. Simulation results demonstrate the effectiveness of the proposed controller.
Keywords:PDE dynamic model; Singular perturbation; Boundary cotrol; Flexible manipulator
 
 
 

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