TY - JOUR
T1 - Back-stepping control of two-link flexible manipulator based on an extended state observer
AU - Yang, Hongjiu
AU - Yu, Yang
AU - Yuan, Yuan
AU - Fan, Xiaozhao
N1 - Publisher Copyright:
© 2015 COSPAR. Published by Elsevier Ltd. All rights reserved.
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 -