Vibration Control of an Experimental Flexible Manipulator Against Input Saturation

作     者：Zhijia Zhao Sentao Cai Ge Ma F.Richard Yu Zhijia Zhao;Sentao Cai;Ge Ma;F.Richard Yu

作者机构：the School of Mechanical and Electrical EngineeringGuangzhou UniversityGuangzhou 510006 the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ)Shenzhen 518060China the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ)College of Computer Science&Software EngineeringShenzhen UniversityShenzhen 518060China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第5期

页      面：1340-1342页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported in part by the National Natural Science Foundation of China(62273112) the Scientific Research Projects of Guangzhou Education Bureau(202032793) the Guangzhou University-Hong Kong University of Science and Technology Joint Research Collaboration Fund(YH202205) the Open Research Fund from the Guangdong Laboratory of Artificial Intelligence and Digital Economy[Shenzhen(SZ)](GML-KF-22-27) 

主　　题：restrain eliminate Vibration 

摘      要：Dear Editor, This letter considers the control problem of an experimental flexible manipulator in position tracking, vibration suppression, and saturation compensation. Based on the backstepping technology and a Nussbaum function, we develop an anti-windup control to restrain the manipulator’s vibration, realize the desire trajectory tracking, and eliminate the saturation.