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A fast stable control strategy based on system energy for a planar single-link flexible manipulator

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Abstract

This paper presents a stable control strategy based on system energy for a Planar Single-Link Flexible Manipulator (PSLFM) to quickly realize its control objective, which is to move the flexible link to the target angle and to suppress the vibration of the flexible link. The PSLFM is a highly nonlinear and strongly coupled system, and it is also an underactuated system. In this paper, the PSLFM is assumed to be an Euler–Bernoulli beam, and its dynamic model is built by using the assumed mode method. According to the energy of the system and the control objective of the PSLFM, a Lyapunov function is constructed. Based on this function, a controller is designed to realize the control objective of the system. Meantime, an online optimization method based on Fuzzy-Genetic Algorithm (FGA) is presented to improve the performance of the system by optimizing the design parameter of the controller in every sampling period. The simulation results demonstrate the effectiveness of this fast stable control strategy.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China under Grant 61773353 and 61374106, the Hubei Provincial Natural Science Foundation of China under Grant 2015CFA010, and the 111 project under Grant B17040.

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Authors and Affiliations

  1. School of Automation, China University of Geosciences, Wuhan, 430074, Hubei, China

    Qing-Xin Meng, Xu-Zhi Lai, Ya-Wu Wang & Min Wu

  2. Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, 430074, Hubei, China

    Qing-Xin Meng, Xu-Zhi Lai, Ya-Wu Wang & Min Wu

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  1. Qing-Xin Meng
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  2. Xu-Zhi Lai
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Correspondence to Xu-Zhi Lai.

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This article does not contain any researches involving human participants and animals, and the informed consent the informed consent was obtained from all individual participants included in the study.

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Meng, QX., Lai, XZ., Wang, YW. et al. A fast stable control strategy based on system energy for a planar single-link flexible manipulator. Nonlinear Dyn 94, 615–626 (2018). https://doi.org/10.1007/s11071-018-4380-1

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  • DOI: https://doi.org/10.1007/s11071-018-4380-1

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