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Disturb force observation and model-free vibration control of flexible manipulator
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Yu-xue Pu1, 2, Yan Gu1, Chong-feng ZHANG3, Huai-wu Zou3
Journal of Vibration Engineering | 2024, 37(10) : 1783 - 1791
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Journal of Vibration Engineering | 2024, 37(10): 1783-1791
Disturb force observation and model-free vibration control of flexible manipulator
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Yu-xue Pu1, 2, Yan Gu1, Chong-feng ZHANG3, Huai-wu Zou3
Affiliations
  • 1College of Civil Engineering, Hefei University of Technology, Hefei 230009, China
  • 2Anhui Key Laboratory of Civil Engineering Structures and Materials, Hefei 230009, China
  • 3National Key Laboratory of Aerospace Mechanism, Shanghai 201108, China
Published: 2024-10-28 doi: 10.16385/j.cnki.issn.1004-4523.2024.10.017
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In order to suppress the nonlinear vibration during the motion of a flexible manipulator，a model-free hybrid control strategy of trajectory tracking and vibration suppression based on a novel online observation of disturb forces is proposed. The Lagrange equation and singular perturbation method are employed to model and decouple the dynamics of the manipulator，which are decomposed into a slow subsystem representing rigid motion and a fast subsystem representing flexible vibration. Considering the complexity of modeling and uncertainty of model parameters，PD control method is adopted to realize trajectory tracking，and model-free adaptive control algorithm is proposed to realize nonlinear vibration control of flexible links. To solve the control divergence problem caused by unknown external disturb forces，a modified extended state observer is proposed to online estimate and real-time compensate the disturb force，which can improve the convergence performance of model-free vibration control algorithm effectively. The simulation results show that the proposed method can effectively suppress the vibration of the flexible manipulator in the presence of disturb force，and has good dynamic performance and robustness.

flexible manipulator  /  vibration control  /  model free adaptive control  /  disturb observer
Yu-xue Pu, Yan Gu, Chong-feng ZHANG, Huai-wu Zou. Disturb force observation and model-free vibration control of flexible manipulator[J]. Journal of Vibration Engineering, 2024 , 37 (10) : 1783 -1791 . DOI: 10.16385/j.cnki.issn.1004-4523.2024.10.017
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Article Info
doi: 10.16385/j.cnki.issn.1004-4523.2024.10.017
  • Receive Date：2024-04-19
  • Online Date：2026-02-12
  • Published：2024-10-28
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  • Received：2024-04-19
  • Revised：2024-07-11
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Affiliations
    1College of Civil Engineering, Hefei University of Technology, Hefei 230009, China
    2Anhui Key Laboratory of Civil Engineering Structures and Materials, Hefei 230009, China
    3National Key Laboratory of Aerospace Mechanism, Shanghai 201108, China
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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