Stability analysis of nonlinear dynamic system with linear observer for a multilink flexible manipulator

Xu Qimin; Jing Zhongliang; Hu Shiqiang

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Stability analysis of nonlinear dynamic system with linear observer for a multilink flexible manipulator

机译：多连杆柔性机械臂非线性动力学系统线性观测器的稳定性分析

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In this paper, the stability of nonlinear dynamic system for a multilink flexible manipulator (MLFM) is investigated by designing of linear observer to construct a closed-loop system such that for all admissible parameter uncertainties, unknown nonlinearities, and exogenous disturbances input. In a Lagrangian approach, one closed-loop augmented system is unfolded and proven to be asymptotically stable in the mean square (ASMS) by utilizing a Lyapunov theory. Further, if the stability of dynamic closed-loop system of the manipulator is maintained, a desired linear observer will be obtained by solving several algebraic Riccati inequalities. Simulation studies are used to verify the effectiveness of the proposed approach.

机译：在本文中，通过设计线性观测器以构造一个闭环系统来研究多链接柔性机械臂（MLFM）非线性动力学系统的稳定性，使得对于所有可允许的参数不确定性，未知非线性和外源性干扰输入。在拉格朗日方法中，利用利雅普诺夫理论，一个闭环增广系统被展开并证明在均方（ASMS）中是渐近稳定的。此外，如果维持机械手的动态闭环系统的稳定性，则通过求解几个代数Riccati不等式将获得所需的线性观测器。仿真研究用于验证所提出方法的有效性。

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来源
《International journal of non-linear mechanics》 |2018年第7期|27-36|共10页
作者
Xu Qimin; Jing Zhongliang; Hu Shiqiang;
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作者单位

Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China;

Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China;

Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China;

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正文语种 eng
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关键词
Multilink flexible manipulator; Algebraic Riccati inequalities; Linear observer; Asymptotically stability in the mean square;

机译：多链路柔性机械臂;代数Riccati不等式;线性观测器;均方渐近稳定;

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1. Stability Analysis of a Multilink Flexible Manipulator: Nonlinear Observers [J] . Qimin Xu, Zhongliang Jing, Shiqiang Hu International Robotics & Automation Journal . 2017,第4期

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2. To the special issue: Nonlinear nuclear reactor stability analysis and special aspects of modelling of complex dynamical systems (principles of model order reduction). Special issue on nonlinear stability analysis [J] . Hennig Dieter, Uddin Rizwan, Suneet Singh, Progress in Nuclear Energy . 2020,第Jana期

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3. Observer-based adaptive fuzzy backstepping dynamic surface control design and stability analysis for MIMO stochastic nonlinear systems [J] . Tong S., Li Y. Nonlinear dynamics . 2012,第3期

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4. Control and dynamic analysis of multilink flexible manipulator [C] . Beres W., Sasiadek J.Z., Vukovich G. Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on . 1993

机译：多连杆柔性机械手的控制与动力学分析
5. Observer synthesis for linear/nonlinear dynamical systems subject to measurement delays. [D] . Muralidhar, Praveen C. 2006

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6. Stability Analysis of Nonlinear Systems with Slope Restricted Nonlinearities [O] . Xian Liu, Jiajia Du, Qing Gao -1

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7. Stability Analysis of a Multilink Flexible Manipulator: Nonlinear Observers [O] . Qimin Xu 2017

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Stability analysis of nonlinear dynamic system with linear observer for a multilink flexible manipulator

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