Distributed parameter modeling and boundary control of flexible manipulator 1st ed.

Author

• Liu, Jinkun

Additional Author(s)

• He, Wei

Publisher

Cham, Switzerland : Springer International Publishing, 2018

Language

English

ISBN

9789811083006

Series

Subject(s)

• BOUNDARY VALUE PROBLEMS
• MECHANICAL ENGINEERING
• ROBOTICS

Notes

. .

Abstract

The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.

Physical Dimension

Number of Page(s)

1 online resource (xIIi, 154 p.)

Dimension

-

Other Desc.

ill.

Summary / Review / Table of Content

Introduction --
Mathematical Preliminaries --
PDE Modeling for Flexible Manipulator --
PDE Boundary Control Using Singular Perturbation Approach --
Boundary Control for Flexible Manipulator with Exponential Convergence --
Boundary Control for a Flexible Manipulator with LaSalle Analysis --
Boundary Control for a Flexible Manipulator with State Constraints Using Barrier Lyapunov Function --
Boundary Control of Flexible Manipulator with Input Constraints --
A Robust Observer Design for Flexible Manipulator Based on PDE Model --
Infinite Dimensional Disturbance Observer for Flexible Manipulator --
Boundary Control for a Flexible Manipulator with Guaranteed Transient Performance --
Conclusions.

Exemplar(s)

#	Accession No.	Call Number	Location	Status
1.	00875/20	629.8312 Liu D	Online !	Available