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Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation

机译：基于输入饱和的高阶扰动观测器的柔性机械臂边界控制

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This paper studies a new boundary control strategy for a flexible manipulator subject to unknown fast time-varying disturbances. The flexible manipulator essentially is an infinite dimensional continuum. Hence, a continuous function of space and time can be employed to describe the position of such a distributed parameter structure, the motion of which can be described by partial differential equations (PDEs). To cope with fast time-varying external disturbances, a high order disturbance observer is adopted. A control strategy based on such a disturbance observer is proposed for the rest-rest maneuvering of the flexible manipulator. Moreover, a smooth hyperbolic function is included in the controller to satisfy the requirement of input saturation. The stability of the boundary control is analyzed using LaSalle’s invariance principle. Finally, the performance of the presented boundary controller is verified through comparison with that of employing a constant disturbance observer via numerical simulations.
机译：本文研究了一种不受未知快速时变干扰的柔性机械臂的新型边界控制策略。柔性操纵器本质上是一个无限维的连续体。因此，可以采用空间和时间的连续函数来描述这种分布式参数结构的位置，其运动可以通过偏微分方程（PDE）来描述。为了应对快速时变的外部干扰，采用了高阶干扰观测器。提出了一种基于这种扰动观测器的控制策略，用于柔性机械手的静息操纵。此外，控制器中包括平滑的双曲函数，以满足输入饱和的要求。使用LaSalle的不变性原理分析边界控制的稳定性。最后，通过数值模拟与采用恒定干扰观测器的比较，验证了所提出的边界控制器的性能。

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