Modeling and robust adaptive iterative learning control of a vehicle-based flexible manipulator with uncertainties. (English) Zbl 1418.93135
Summary: In this brief, this paper deals with a robust adaptive iterative learning control (ILC) problem for a flexible manipulator attached to a moving vehicle with uncertainties. To begin with, considering the infinite dimensionality of the flexible distributed parameter system, a coupled ordinary differential equation and partial differential equation model is established without any discretization. Then, it is followed by a presentation of an adaptive ILC strategy, which can drive the vehicle and joint to the desired positions based on a proportional-derivative feedback structure with unmodeled dynamics and external disturbances. The deformation of the flexible manipulator can also be suppressed simultaneously under the proposed control laws. By using Lyapunov’s direct method, the stability of the closed-loop system is demonstrated. The simulation results are provided to illustrate the effectiveness of the proposed control laws.
MSC:
| 93C40 | Adaptive control/observation systems |
| 93B35 | Sensitivity (robustness) |
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93C41 | Control/observation systems with incomplete information |
| 93C15 | Control/observation systems governed by ordinary differential equations |
| 93C20 | Control/observation systems governed by partial differential equations |
Keywords:
flexible vehicle-mounted manipulator; ODE-PDE model; position regulation; robust adaptive iterative learning control; uncertainties; vibration controlReferences:
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