Distributed Control of Multiple Flexible Manipulators With Unknown Disturbances and Dead-Zone Input

Multiple flexible manipulators can be used to complete some repeatable missions. Each flexible manipulator can be described as an underactuated Lagrangian system based on the assumed modes method. Also, the actuator nonlinearity may deteriorate the system performance. Hence, this article aims to dev...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2020-11, Vol.67 (11), p.9937-9947
Hauptverfasser:	Chen, Ti, Shan, Jinjun
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Adaptive control Controllers Dead zone distributed control Disturbances flexible manipulator Flexible manipulators iterative learning control Manipulator dynamics Mathematical model Parameter uncertainty Payloads Sliding mode control Torque underactuated Lagrangian system
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