Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer

• DOI: 10.1002/asjc.1793
• Publication Date: 2018-04-03T09:17:53Z
• Authors: Hongjun Yang; Jinkun Liu
• Keywords: Observer (physics)

Abstract This paper mainly focuses on designing an active vibration control for a flexible‐link manipulator in the presence of input constraint and unknown spatially infinite dimensional disturbances. The we studied can be taken as Euler–Bernoulli beam, dynamic model which has form partial differential equations. As existence disturbances first design disturbance observer to estimate proposed is guaranteed exponentially stable. Then, taking saturation into account, novel disturbance‐observer‐based controller developed regulate joint angular position rapidly suppress vibrations main contribution this study. closed‐loop system validated asymptotically stable by theoretical analysis. effectiveness scheme demonstrated numerical simulations.