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In this study, we consider anti-windup design as one of the approaches for the boundary control problem of a flexible manipulator subject to input saturation and input disturbances. The dynamics of the system are represented by partial differential equation (PDE). One of the key contributions of this study is that using singular perturbation approach the PDE model is divided into two simpler subsystems...
In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method...
This paper studies optimal trajectory control of a flexible two-link manipulator based on the partial differential equation (PDE) dynamic model. To avoid deriving optimal control directly from the cost function, which is difficult for PDE systems, we design the optimal boundary control in two steps. First, the differential evolution algorithm is applied to generate the optimal trajectory that minimizes...
This paper deals with the identification of an underactuated manipulator-Pendubot. The method of genetic algorithm can be applied for inertial parameters identification of the underactuated manipulator system after transformations. It is shown that the method is able to directly identify inertial parameters effectively. This method is more effective, when the end of the second link of the manipulator...
This paper proposes an observer for a flexible two-link manipulator based on the nonlinear partial differential equation (PDE) dynamic model. The most attractive feature of this observer is that it can estimate the spatially distributed states based on only boundary measurements. The asymptotical stability of the proposed observer is validated by both theoretical analysis and simulation results.
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