Control Design for the System of Manipulator Handling a Flexible Payload With Input Constraints Conference Paper uri icon


  • 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.

citation count

  • 0

publication date

  • September 2018