DocumentCode
2241406
Title
Back-stepping control of two-link flexible manipulator based on extended state observer
Author
Yu, Yang ; Yuan, Yuan ; Fan, Xiaozhao ; Yang, Hongjiu
Author_Institution
Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
fYear
2015
fDate
28-30 July 2015
Firstpage
846
Lastpage
849
Abstract
In this paper, we propose a novel control scheme to solve trajectory tracking problem of two-link flexible manipulator system. The partly linear flexible system is obtained via using the nonlinear decoupling feedback control method. An extended state observer is introduced to estimate the system´s nonlinear part. Back-stepping controller is designed to guarantee manipulator tracking desired trajectory. Simulation results demonstrate the effectiveness of the developed techniques in this paper.
Keywords
Adaptation models; Manipulator dynamics; Mathematical model; Observers; Trajectory; Flexible manipulator; back-stepping technique; extended state observer;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2015 34th Chinese
Conference_Location
Hangzhou, China
Type
conf
DOI
10.1109/ChiCC.2015.7259744
Filename
7259744
Link To Document