Adaptive contact-force control and vibration suppression for constrained flexible manipulator with unknown control direction and time-varying actuator fault
A contact-force control and vibration suppression problem for a constrained one-link flexible manipulator with unknown control direction and time-varying actuator fault is discussed in this paper. The manipulator is described by a Partial Differential Equation model. The Nussbaum function is used to...
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| Veröffentlicht in: | Journal of vibration and control 2024-05, Vol.30 (9-10), p.2034-2049 |
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| container_title | Journal of vibration and control |
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| creator | Ma, Xinyang Liu, Jinkun |
| description | A contact-force control and vibration suppression problem for a constrained one-link flexible manipulator with unknown control direction and time-varying actuator fault is discussed in this paper. The manipulator is described by a Partial Differential Equation model. The Nussbaum function is used to solve the unknown control direction and time-varying actuator fault problems. A Nussbaum function provides an adaptive boundary controller constructed to control the contact force to a target and simultaneously eliminate the vibration of the flexible manipulator. The Variable Separation Technique is used along with system boundary conditions to prove the necessary existence and uniqueness of the system solution more concisely than using the common
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-semigroup contractions method. Because force sensors are not necessary, the noise caused by a force sensor can be avoided. Numerical simulations verify the effectiveness of the proposed controller-based solution. |
| doi_str_mv | 10.1177/10775463231174284 |
| format | Article |
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C
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-semigroup contractions method. Because force sensors are not necessary, the noise caused by a force sensor can be avoided. Numerical simulations verify the effectiveness of the proposed controller-based solution.</description><identifier>ISSN: 1077-5463</identifier><identifier>EISSN: 1741-2986</identifier><identifier>DOI: 10.1177/10775463231174284</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Actuators ; Adaptive control ; Boundary conditions ; Contact force ; Controllers ; Flexible manipulators ; Mathematical models ; Partial differential equations ; Robot arms ; Vibration ; Vibration control</subject><ispartof>Journal of vibration and control, 2024-05, Vol.30 (9-10), p.2034-2049</ispartof><rights>The Author(s) 2023</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c264t-c6ee0fd6545a3ad7be92696c3a00860d5a28acec92fffb3e31d151c0e38e46ec3</cites><orcidid>0000-0001-6652-1229</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/10775463231174284$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/10775463231174284$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>314,776,780,21798,27901,27902,43597,43598</link.rule.ids></links><search><creatorcontrib>Ma, Xinyang</creatorcontrib><creatorcontrib>Liu, Jinkun</creatorcontrib><title>Adaptive contact-force control and vibration suppression for constrained flexible manipulator with unknown control direction and time-varying actuator fault</title><title>Journal of vibration and control</title><description>A contact-force control and vibration suppression problem for a constrained one-link flexible manipulator with unknown control direction and time-varying actuator fault is discussed in this paper. The manipulator is described by a Partial Differential Equation model. The Nussbaum function is used to solve the unknown control direction and time-varying actuator fault problems. A Nussbaum function provides an adaptive boundary controller constructed to control the contact force to a target and simultaneously eliminate the vibration of the flexible manipulator. The Variable Separation Technique is used along with system boundary conditions to prove the necessary existence and uniqueness of the system solution more concisely than using the common
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-semigroup contractions method. Because force sensors are not necessary, the noise caused by a force sensor can be avoided. Numerical simulations verify the effectiveness of the proposed controller-based solution.</description><subject>Actuators</subject><subject>Adaptive control</subject><subject>Boundary conditions</subject><subject>Contact force</subject><subject>Controllers</subject><subject>Flexible manipulators</subject><subject>Mathematical models</subject><subject>Partial differential equations</subject><subject>Robot arms</subject><subject>Vibration</subject><subject>Vibration control</subject><issn>1077-5463</issn><issn>1741-2986</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><recordid>eNp1kctOwzAQRS0EEqXwAewisU7xK06yrCpeUiU2sI4cZ1xcUifYTgv_wsfitAgWiNXc0Zx7Z6RB6JLgGSF5fk1wnmdcMMpiy2nBj9AkCpLSshDHUcd5OgKn6Mz7NcaYc4In6HPeyD6YLSSqs0GqkOrOqUPnujaRtkm2pnYymM4mfuh7B96POnIj5YOTxkKT6BbeTd1CspHW9EMrQwR2Jrwkg3213c7-ZDbGgdrnjenBbCDdSvdh7CqJBwx7o5ZDG87RiZath4vvOkXPtzdPi_t0-Xj3sJgvU0UFD6kSAFg3IuOZZLLJayipKIViEuNC4CaTtJAKVEm11jUDRhqSEYWBFcAFKDZFV4fc3nVvA_hQrbvB2biyYjijGeWY0EiRA6Vc570DXfXObOLhFcHV-ITqzxOiZ3bweLmC39T_DV-pf4xe</recordid><startdate>202405</startdate><enddate>202405</enddate><creator>Ma, Xinyang</creator><creator>Liu, Jinkun</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>KR7</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0001-6652-1229</orcidid></search><sort><creationdate>202405</creationdate><title>Adaptive contact-force control and vibration suppression for constrained flexible manipulator with unknown control direction and time-varying actuator fault</title><author>Ma, Xinyang ; Liu, Jinkun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c264t-c6ee0fd6545a3ad7be92696c3a00860d5a28acec92fffb3e31d151c0e38e46ec3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Actuators</topic><topic>Adaptive control</topic><topic>Boundary conditions</topic><topic>Contact force</topic><topic>Controllers</topic><topic>Flexible manipulators</topic><topic>Mathematical models</topic><topic>Partial differential equations</topic><topic>Robot arms</topic><topic>Vibration</topic><topic>Vibration control</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ma, Xinyang</creatorcontrib><creatorcontrib>Liu, Jinkun</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Journal of vibration and control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Ma, Xinyang</au><au>Liu, Jinkun</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Adaptive contact-force control and vibration suppression for constrained flexible manipulator with unknown control direction and time-varying actuator fault</atitle><jtitle>Journal of vibration and control</jtitle><date>2024-05</date><risdate>2024</risdate><volume>30</volume><issue>9-10</issue><spage>2034</spage><epage>2049</epage><pages>2034-2049</pages><issn>1077-5463</issn><eissn>1741-2986</eissn><abstract>A contact-force control and vibration suppression problem for a constrained one-link flexible manipulator with unknown control direction and time-varying actuator fault is discussed in this paper. The manipulator is described by a Partial Differential Equation model. The Nussbaum function is used to solve the unknown control direction and time-varying actuator fault problems. A Nussbaum function provides an adaptive boundary controller constructed to control the contact force to a target and simultaneously eliminate the vibration of the flexible manipulator. The Variable Separation Technique is used along with system boundary conditions to prove the necessary existence and uniqueness of the system solution more concisely than using the common
C
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-semigroup contractions method. Because force sensors are not necessary, the noise caused by a force sensor can be avoided. Numerical simulations verify the effectiveness of the proposed controller-based solution.</abstract><cop>London, England</cop><pub>SAGE Publications</pub><doi>10.1177/10775463231174284</doi><tpages>16</tpages><orcidid>https://orcid.org/0000-0001-6652-1229</orcidid></addata></record> |
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| ispartof | Journal of vibration and control, 2024-05, Vol.30 (9-10), p.2034-2049 |
| issn | 1077-5463 1741-2986 |
| language | eng |
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| source | SAGE Complete |
| subjects | Actuators Adaptive control Boundary conditions Contact force Controllers Flexible manipulators Mathematical models Partial differential equations Robot arms Vibration Vibration control |
| title | Adaptive contact-force control and vibration suppression for constrained flexible manipulator with unknown control direction and time-varying actuator fault |
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