Control Design for the System of Manipulator Handling a Flexible Payload With Input Constraints
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Copyright © 2018 ASME. In this paper, we consider the control design for manipulator handling a flexible payload in the presence of input constraints. The dynamics of the system is described by coupled ordinary differential equation and a partial differential equation. Considering actuators saturation, the proposed control law applies a smooth hyperbolic function to handle the effect of the input constraints. The asymptotic stability of the closed-loop system is proved by using semi-group theory and extended LaSalle’s Invariance Principle. Simulation results show that the proposed controller is effective.
author list (cited authors)
Liu, S., Langari, R., & Li, Y.