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Boundary Control for Flexible Manipulator Using Singular Perturbation

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Distributed Parameter Modeling and Boundary Control of Flexible Manipulators

Abstract

Application of singular perturbation techniques to control problem was discussed in [1] and have been applied to flexible manipulators by many researchers [2, 3].

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References

  1. P.V. Kokotovic, Applications of singular perturbation techniques to control problems. SIAM Rev. 26(4), 501–550 (1984)

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  2. B. Siciliano, W.J. Book, A singular perturbation approach to control of lightweight flexible manipulators. Int. J. Robot. Res. 7(4), 79–90 (1988)

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  3. Y. Aoustin, C. Chevallereau, The singular perturbation control of a two-flexible-link robot, in IEEE International Conference on Robotics and Automation, 1993, pp. 737–742

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  4. Z.J. Liu, J.K. Liu, Adaptive boundary control of a flexible manipulator with input saturation. Int. J. Control 89(6), 1191–1202 (2016)

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  5. W.H. Ray, Advanced Process Control (McGraw-Hill, New York, NY, USA, 1981)

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  6. C.D. Rahn, Mechatronic Control of Distributed Noise and Vibration-A Lyapunov Approach (Springer, Berlin Heidelberg, 2001)

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  7. H.K. Khalil, Output feedback control of linear two-time-scale systems. IEEE Trans. Autom. Control 32(9), 784–792 (1987)

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  8. A. Saberi, H. Khalil, Quadratic-type Lyapunov functions for singularly perturbed systems. IEEE Trans. Autom. Control 29(6), 542–550 (1984)

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Authors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

    Jinkun Liu

  2. University of Science and Technology Beijing, Beijing, China

    Wei He

Authors
  1. Jinkun Liu
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  2. Wei He
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Correspondence to Jinkun Liu .

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© 2018 Tsinghua University Press, Beijing and Springer Nature Singapore Pte Ltd.

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Liu, J., He, W. (2018). Boundary Control for Flexible Manipulator Using Singular Perturbation. In: Distributed Parameter Modeling and Boundary Control of Flexible Manipulators. Springer, Singapore. https://doi.org/10.1007/978-981-10-8300-6_4

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  • DOI: https://doi.org/10.1007/978-981-10-8300-6_4

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-8299-3

  • Online ISBN: 978-981-10-8300-6

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