%0 Journal Article
%T Robust boundary control of a distributed-parameter  exible manipulator with tip unknown disturbance<br>末端有未知扰动的分布参数柔性机械臂的鲁棒边界控
%A WU Xin-sheng
%A DENG Jun
%A <br>吴忻生
%A 邓军
%J 控制理论与应用
%D 2011
%I 
%X A boundary control for a distributed-parameter  exible manipulator with tip unknown disturbance is developed to reduce the manipulator vibrations. The dynamic behavior of the  exible manipulator is described by a distributed parameter model in terms of partial differential equations(PDEs). The control is applied to the tip boundary of the manipulator based on the Lyapunov direct method to regulate the manipulator vibrations. With the proposed boundary control, the exponential stability under external disturbances is achieved. The proposed control is independent of system parameters, ensuring the robustness of the system performances to variations in parameters. Numerical simulations for demonstrating the effectiveness of the proposed control are presented.
%K 边界控制
%K 偏微分方程
%K 分布参数模型
%K Lyapunov直接法
%K 指数稳定性
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=5A937181DA5A41F275EB1B3017967B9D&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=E158A972A605785F&sid=B99A53AADE50D922&eid=AE43DE0664B02889&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=37