Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling
With the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), th...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
AIMS Press
2023-06-01
|
| Series: | Mathematical Biosciences and Engineering |
| Subjects: | |
| Online Access: | https://www.aimspress.com/article/doi/10.3934/mbe.2023641?viewType=HTML |
| _version_ | 1797755830597058560 |
|---|---|
| author | Yunxia Wei Yuanfei Zhang Bin Hang |
| author_facet | Yunxia Wei Yuanfei Zhang Bin Hang |
| author_sort | Yunxia Wei |
| collection | DOAJ |
| description | With the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), the partial differential equations (PDEs) dynamic model of a manipulator system is established based on the Hamilton principle (HP). Second, the boundary control condition of the end system of the manipulator is introduced to adjust the vibration of the manipulator. Furthermore, a Proportional-Derivative (PD) boundary control (PDBC) strategy is proposed by the Lyapunov function to suppress the vibration of the manipulator. Finally, a numerical comparison simulation based on MATLAB/SIMULINK further verifies the robustness and anti-disturbance performance of the control method proposed in this paper. |
| first_indexed | 2024-03-12T17:52:43Z |
| format | Article |
| id | doaj.art-95ed875e214b4049bd1e9ac2b27ad078 |
| institution | Directory Open Access Journal |
| issn | 1551-0018 |
| language | English |
| last_indexed | 2024-03-12T17:52:43Z |
| publishDate | 2023-06-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Mathematical Biosciences and Engineering |
| spelling | doaj.art-95ed875e214b4049bd1e9ac2b27ad0782023-08-03T01:18:20ZengAIMS PressMathematical Biosciences and Engineering1551-00182023-06-01208143271435210.3934/mbe.2023641Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modelingYunxia Wei 0Yuanfei Zhang 1Bin Hang 21. Wuxi Vocational College of Science and Technology, Jiangsu, Wuxi 214028, China2. MEMSIC Semiconductor (Wuxi) Co., Ltd3. School of Automation, Northwestern Polytechnical University, Shaanxi, Xi'an 710072, ChinaWith the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), the partial differential equations (PDEs) dynamic model of a manipulator system is established based on the Hamilton principle (HP). Second, the boundary control condition of the end system of the manipulator is introduced to adjust the vibration of the manipulator. Furthermore, a Proportional-Derivative (PD) boundary control (PDBC) strategy is proposed by the Lyapunov function to suppress the vibration of the manipulator. Finally, a numerical comparison simulation based on MATLAB/SIMULINK further verifies the robustness and anti-disturbance performance of the control method proposed in this paper.https://www.aimspress.com/article/doi/10.3934/mbe.2023641?viewType=HTMLflexible manipulatorhamilton principlepartial differential equationsboundary control |
| spellingShingle | Yunxia Wei Yuanfei Zhang Bin Hang Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling Mathematical Biosciences and Engineering flexible manipulator hamilton principle partial differential equations boundary control |
| title | Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling |
| title_full | Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling |
| title_fullStr | Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling |
| title_full_unstemmed | Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling |
| title_short | Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling |
| title_sort | construction and management of smart campus anti disturbance control of flexible manipulator based on pde modeling |
| topic | flexible manipulator hamilton principle partial differential equations boundary control |
| url | https://www.aimspress.com/article/doi/10.3934/mbe.2023641?viewType=HTML |
| work_keys_str_mv | AT yunxiawei constructionandmanagementofsmartcampusantidisturbancecontrolofflexiblemanipulatorbasedonpdemodeling AT yuanfeizhang constructionandmanagementofsmartcampusantidisturbancecontrolofflexiblemanipulatorbasedonpdemodeling AT binhang constructionandmanagementofsmartcampusantidisturbancecontrolofflexiblemanipulatorbasedonpdemodeling |