Back-stepping control of two-link flexible manipulator based on an extended state observer

Hongjiu Yang; Yang Yu; Yuan Yuan; Xiaozhao Fan

doi:10.1016/j.asr.2015.07.036

Back-stepping control of two-link flexible manipulator based on an extended state observer

Hongjiu Yang
, Yang Yu
, Yuan Yuan
, Xiaozhao Fan

Yanshan University
Beihang University

Research output: Contribution to journal › Article › peer-review

95 Scopus citations

Abstract

In this paper, we consider trajectory tracking control of a two-link flexible manipulator model in space. Two variables of joint angle and elastic deformation are partly decoupled by a nonlinear decoupling feedback control method. An extended state observer is introduced to estimate nonlinear terms of the two-link flexible manipulator system. Based on a back-stepping method, a nonlinear controller is designed for the flexible manipulator system. Finally, some simulation results are given to demonstrate the effectiveness of the developed techniques in this paper.

Original language	English
Pages (from-to)	2312-2322
Number of pages	11
Journal	Advances in Space Research
Volume	56
Issue number	10
DOIs	https://doi.org/10.1016/j.asr.2015.07.036
State	Published - 2015
Externally published	Yes

Keywords

Back-stepping control
Extended state observer
Flexible manipulator
Trajectory tracking control

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10.1016/j.asr.2015.07.036

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title = "Back-stepping control of two-link flexible manipulator based on an extended state observer",

abstract = "In this paper, we consider trajectory tracking control of a two-link flexible manipulator model in space. Two variables of joint angle and elastic deformation are partly decoupled by a nonlinear decoupling feedback control method. An extended state observer is introduced to estimate nonlinear terms of the two-link flexible manipulator system. Based on a back-stepping method, a nonlinear controller is designed for the flexible manipulator system. Finally, some simulation results are given to demonstrate the effectiveness of the developed techniques in this paper.",

keywords = "Back-stepping control, Extended state observer, Flexible manipulator, Trajectory tracking control",

author = "Hongjiu Yang and Yang Yu and Yuan Yuan and Xiaozhao Fan",

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AU - Yang, Hongjiu

AU - Yu, Yang

AU - Yuan, Yuan

AU - Fan, Xiaozhao

PY - 2015

Y1 - 2015

N2 - In this paper, we consider trajectory tracking control of a two-link flexible manipulator model in space. Two variables of joint angle and elastic deformation are partly decoupled by a nonlinear decoupling feedback control method. An extended state observer is introduced to estimate nonlinear terms of the two-link flexible manipulator system. Based on a back-stepping method, a nonlinear controller is designed for the flexible manipulator system. Finally, some simulation results are given to demonstrate the effectiveness of the developed techniques in this paper.

AB - In this paper, we consider trajectory tracking control of a two-link flexible manipulator model in space. Two variables of joint angle and elastic deformation are partly decoupled by a nonlinear decoupling feedback control method. An extended state observer is introduced to estimate nonlinear terms of the two-link flexible manipulator system. Based on a back-stepping method, a nonlinear controller is designed for the flexible manipulator system. Finally, some simulation results are given to demonstrate the effectiveness of the developed techniques in this paper.

KW - Back-stepping control

KW - Extended state observer

KW - Flexible manipulator

KW - Trajectory tracking control

UR - https://www.scopus.com/pages/publications/84948567829

U2 - 10.1016/j.asr.2015.07.036

DO - 10.1016/j.asr.2015.07.036

M3 - 文章

AN - SCOPUS:84948567829

SN - 0273-1177

VL - 56

SP - 2312

EP - 2322

JO - Advances in Space Research

JF - Advances in Space Research

IS - 10

ER -

Back-stepping control of two-link flexible manipulator based on an extended state observer

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Keywords

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