Adaptive Robust Control for a Spatial Flexible Timoshenko Manipulator Subject to Input Dead-Zone
研究了存在输入死区非线性的柔性铁木辛柯机械臂的自适应鲁棒空间振动控制，设计了边界控制律以减少剪切变形和弹性振荡，并确保角度定位。
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.