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Consensus tracking and vibration control for multiple single-link flexible manipulators with input signal

Le Li1, Jinkun Liu1

  • 1School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No. 37, Haidian District, Beijing, 100191, China.

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|September 2, 2023
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Summary
This summary is machine-generated.

This study introduces adaptive control for flexible manipulators, achieving consensus tracking and vibration elimination despite input signal quantization. The novel boundary control ensures system stability without needing quantizer parameters.

Keywords:
Consensus trackingFlexible manipulatorInput signal quantizationMultiagent systemsPDE modelVibration suppression

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Area of Science:

  • Robotics
  • Control Theory
  • Applied Mathematics

Background:

  • Multiagent systems with flexible manipulators present challenges in precise control due to inherent flexibility and external disturbances.
  • Input signal quantization in control systems can degrade performance and stability, necessitating robust compensation strategies.

Purpose of the Study:

  • To develop a distributed adaptive boundary control protocol for consensus tracking and vibration control of multiagent systems composed of single-link flexible manipulators.
  • To address the impact of input signal quantization on system performance and stability.

Main Methods:

  • Modeling each flexible manipulator using fourth-order partial differential equations (PDEs).
  • Employing a logarithmic quantizer for control inputs and designing adaptive laws to counteract quantization effects.
  • Proposing a distributed adaptive boundary control protocol that does not require knowledge of quantizer parameters.

Main Results:

  • The proposed control protocol ensures that all manipulators achieve the desired angular position tracking and vibration elimination.
  • The uniformly bounded stability of the closed-loop system is mathematically proven.
  • Simulations demonstrate the effectiveness of the control strategy across various scenarios.

Conclusions:

  • The developed distributed adaptive boundary control is effective for consensus tracking and vibration control in quantized flexible manipulator systems.
  • The strategy offers robustness against input signal quantization without prior knowledge of quantizer parameters.
  • This research contributes to the advancement of control methodologies for complex robotic systems.