Boundary control for passivity of multiple state or spatial diffusion coupled parabolic complex networks with and without control input constraint

2020 ◽  
pp. 1-12
Author(s):  
Dong-Yang Wang ◽  
Jin-Liang Wang
Keyword(s):  
Complex Networks ◽  
Boundary Control ◽  
Spatial Diffusion ◽  
Control Input ◽  
Input Constraint ◽  
Multiple State

scholarly journals Boundary Control of A Flexible Rotatable Manipulator in Three-Dimensional Space With Input Constraints and Actuator Faults

2021 ◽  
Author(s):  
Jiacheng Wang ◽  
Jinkun Liu ◽  
Fangfei Cao
Keyword(s):  
Boundary Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Flexible Manipulator ◽  
Control Input ◽  
Input Constraints ◽  
Actuator Faults ◽  
Flexible System ◽  
Actuator Failures ◽  
Three Dimensional Space

Abstract In this paper, the boundary control problem of a flexible rotatable manipulator in Three-Dimensional space with input constraints and actuator faults is taken into account. The Hamilton principle is introduced to derive the dynamic model represented by partial differential equations (PDEs), which can accurately reflect the characteristics of the distributed parameters of the flexible system. The hyperbolic tangent function is adopted to ensure that the control input is within a bounded range, and the projection-based adaptive laws are designed to estimate the degree of unknown actuator failures. Satisfying the input constraints, the system can still remain stable when the actuator failures ensue. The flexible manipulator can track the required angle, and both the elastic deformation and the deformation rate are effectively suppressed simultaneously. The numerical simulation results further illustrate the effectiveness of the proposed controller.

Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model

2019 ◽  
Vol 14 (9) ◽  
Author(s):  
Fangfei Cao ◽  
Jinkun Liu
Keyword(s):  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Boundary Control ◽  
Flexible Manipulator ◽  
Control Input ◽  
Input Constraints ◽  
Closed Loop System ◽  
Partial Differential ◽  
Tangent Function

In this paper, the dynamic model is established for the two-link rigid-flexible manipulator, which is represented by nonlinear ordinary differential equations–partial differential equations (ODEs–PDEs). Based on the nonlinear ODE–PDE model, the boundary control strategy is designed to drive the manipulator to follow a given trajectory and eliminate the vibration simultaneously. Considering actuators saturation, smooth hyperbolic tangent function is introduced for dealing with control input constraints problem. It has been rigorously proved that the nonlinear closed-loop system is asymptotically stable by using LaSalle's invariance principle. Simulation results show that the proposed controller is effective.

Sign in / Sign up

Export Citation Format

Share Document