Boundary sliding mode control approach to a one-link flexible beam contact force problem with boundary input disturbances

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• 英文论文题名：Boundary sliding mode control approach to a one-link flexible beam contact force problem with boundary input disturbances
• 论文作者：Fengming Han ; Yingmin Jia
• 英文论文作者：Fengming Han ; Yingmin Jia ; The Seventh Research Division and the Center for Information and Control ; School of Automation Science and Electrical Engineering ; Beihang University (BUAA)
• 年：2017
• 作者机构：The Seventh Research Division and the Center for Information and Control,School of Automation Science and Electrical Engineering,Beihang University (BUAA);
• 英文论文关键词：contact force control ; input disturbance ; flexible beam manipulator ; partial differential equation ; sliding mode control ; boundary control
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：O343.3
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：273k
• 原文格式：D
• 会议级别：全国

摘要

This paper investigates a contact force control problem of a one-link flexible beam with boundary input disturbances.The sliding mode control(SMC) method is adopted to design a boundary feedback controller, which only includes the signals at the drive end, such that the interference suppression can be realized and the tip end of the beam can be enabled to exert the desired force on the contacted object or environment. Moreover, the existence and uniqueness of the solution is proved and the exponentially stability is obtained by the Lyapunov method. Numerical simulations are shown to illustrate the validity of our control design.
This paper investigates a contact force control problem of a one-link flexible beam with boundary input disturbances.The sliding mode control(SMC) method is adopted to design a boundary feedback controller, which only includes the signals at the drive end, such that the interference suppression can be realized and the tip end of the beam can be enabled to exert the desired force on the contacted object or environment. Moreover, the existence and uniqueness of the solution is proved and the exponentially stability is obtained by the Lyapunov method. Numerical simulations are shown to illustrate the validity of our control design.

引文

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