Vibration Control of an Experimental Flexible Manipulator Against Input Saturation
نویسندگان
چکیده
Dear Editor, This letter considers the control problem of an experimental flexible manipulator in position tracking, vibration suppression, and saturation compensation. Based on backstepping technology a Nussbaum function, we develop anti-windup to restrain manipulator's vibration, realize desire trajectory eliminate saturation. Applying Lyapunov's method, system's stability with proposed is proved. Finally, practicability effectiveness methodology are verified Quanser experiment platform.
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ژورنال
عنوان ژورنال: IEEE/CAA Journal of Automatica Sinica
سال: 2023
ISSN: ['2329-9274', '2329-9266']
DOI: https://doi.org/10.1109/jas.2023.123345