Author:
Chen Zhiguang,Yang Chenguang,Liu Xin,Wang Min
Abstract
Purpose
The purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers.
Design/methodology/approach
Since the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem.
Findings
Dynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity.
Originality/value
The authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller.
Subject
Industrial and Manufacturing Engineering,Control and Systems Engineering
Reference25 articles.
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2. Chu, M. (2010), “Research on dynamic characteristics and active control of spatial flexible manipulator”, PhD dissertation, Beijing University of Posts and Telecommunications.
3. Dynamic learning from adaptive neural network control of a class of nonaffine nonlinear systems;IEEE Transactions on Neural Networks and Learning Systems,2014
4. Neural learning control of marine surface vessels with guaranteed transient tracking performance;IEEE Transactions on Industrial Electronics,2016
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