Research on Finite-Time Control Method for the Flexible Manipulator

Abstract:

Aimed at the finite-time stabilization problem of a class of flexible manipulators, a finite-time state feedback stabilization controller was proposed in this paper. Firstly, the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization. Based on the the finite time stabilization control method of the linear system, a finite-time state feedback stabilization controller was designed for the flexible manipulators. Furthermore, it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite time with the proposed controller. The simulation results showed that the performance of the flexible manipulators with the proposed finite-time state feedback controller was effective. At last, the analysis and comparison of the proposed controller and the dead-beat controller were given.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1772-1777
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1772
• Online since: November 2012
• Authors: Yi Qing Wang, Qing Wei Chen, Bao Lin Hou
• Keywords: Dead-Beat Control, Exact State Feedback Linearization, Finite-Time Control, Flexible Manipulators

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