This paper investigates the robust control problem for a planar two-link rigid-flexible coupling manipulator, whose input torques are influenced by bounded disturbances. A nonlinear partial differential equation (PDE) model which… Click to show full abstract
This paper investigates the robust control problem for a planar two-link rigid-flexible coupling manipulator, whose input torques are influenced by bounded disturbances. A nonlinear partial differential equation (PDE) model which only contains measurable states in the boundary conditions is developed and based on this model, and a sliding mode control (SMC) scheme is proposed to realize joint angles reaching desired value, flexible vibration suppression and anti-interference. To overcome the difficulties brought by the inherent nonlinearity of the PDE and controller, the existence and uniqueness of the solution for the closed-loop system are proven by the Galerkin approximation sequences. The numerical simulations demonstrate the validity and effectiveness of our control design.
               
Click one of the above tabs to view related content.