Boundary Control for Flexible Manipulator with State Constraints

  • Jinkun Liu
  • Wei He


Although the control laws design for flexible manipulator systems has made great progress, studies of flexible manipulators or PDE model systems with output constraints are limited. Constraints are ubiquitous in physical systems and violation of the constraints during operation may lead to performance degradation, hazards or system damage.


  1. 1.
    T.T. Jiang, J.K. Liu, W. He, Adaptive boundary control for a flexible manipulator with state constraints using a barrier lyapunov function, J. Dyn. Syst. Meas. Control (2017) (accepted)Google Scholar
  2. 2.
    K.P. Tee, S.S. Ge, E.H. Tay, Barrier Lyapunov functions for the control of output-constrained nonlinear systems. Automatica 45, 918–927 (2009)MathSciNetCrossRefGoogle Scholar
  3. 3.
    W.H. Ray, Advanced Process Control (McGraw-Hill, New York, 1981)Google Scholar
  4. 4.
    C.D. Rahn, Mechatronic Control of Distributed Noise and Vibration-A Lyapunov Approach (Springer, Berlin Heidelberg, 2001)CrossRefGoogle Scholar

Copyright information

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

Authors and Affiliations

  1. 1.School of Automation Science and Electrical EngineeringBeihang UniversityBeijingChina
  2. 2.University of Science and Technology BeijingBeijingChina

Personalised recommendations