Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator

摘要

Summary This article focuses on the angle positioning and vibration isolation of flexible Timoshenko manipulators possessing extraneous disturbances and saturation nonlinearities. Boundary control strategies with auxiliary systems are presented to achieve the expected angle, suppress the shear deformation and elastic oscillation, and mitigate the saturation nonlinearities effect. With the constructed controllers, a controlled system is ensured and certified to be exponentially stable. The simulation and comparison results show the control performance of the suggested approach.