Robust boundary control of a distributed-parameter exible manipulator with tip unknown disturbance
末端有未知扰动的分布参数柔性机械臂的鲁棒边界控

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.