Dynamic modeling and infinite-dimensional observer-based control for manipulation of flexible beam by a multi-link robot

摘要

Abstract This paper concerns an infinite-dimensional observer for manipulation of flexible beam by a rigid arm robot. The complex dynamic of the system is described by distributed parameter model in terms of ordinary differential equations and partial differential equation. A novel infinite-dimensional observer is proposed to estimate the vibration information of the flexible object. In addition, an observer-based independent joint controller is designed to achieve the position control and vibration suppression, which do not need end-point boundary control. The semigroup theory and LaSalle’s invariance principle are adopted to prove the asymptotic stability of the robot system. The efficiency of the observers and the proposed control strategy are demonstrated by numerical simulations.