CONTROL DESIGN FOR THE SYSTEM OF MANIPULATOR HANDLING A FLEXIBLE PAYLOAD WITH INPUT CONSTRAINTS
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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 semigroup theory and extended LaSalles Invariance Principle. Simulation results show that the proposed controller is effective.
name of conference
Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
PROCEEDINGS OF THE ASME 11TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2018, VOL 3
author list (cited authors)
Liu, S., Langari, R., & Li, Y.
complete list of authors
Liu, Shuyang||Langari, Reza||Li, Yuanchun