A fast stable control strategy based on system energy for a planar single-link flexible manipulator

作者：Meng, Qing-Xin; Lai, Xu-Zhi^*; Wang, Ya-Wu; Wu, Min

来源：Nonlinear Dynamics, 2018, 94(1): 615-626.

DOI：10.1007/s11071-018-4380-1

• Planar single-link flexible manipulator
• Nonlinear system
• Underactuated system
• Vibration suppression
• Online optimization

This paper presents a stable control strategy based on system energy for a Planar Single-Link Flexible Manipulator (PSLFM) to quickly realize its control objective, which is to move the flexible link to the target angle and to suppress the vibration of the flexible link. The PSLFM is a highly nonlinear and strongly coupled system, and it is also an underactuated system. In this paper, the PSLFM is assumed to be an Euler-Bernoulli beam, and its dynamic model is built by using the assumed mode method. According to the energy of the system and the control objective of the PSLFM, a Lyapunov function is constructed. Based on this function, a controller is designed to realize the control objective of the system. Meantime, an online optimization method based on Fuzzy-Genetic Algorithm (FGA) is presented to improve the performance of the system by optimizing the design parameter of the controller in every sampling period. The simulation results demonstrate the effectiveness of this fast stable control strategy.

• 出版日期2018-10
• 单位中国地质大学（北京）