DocumentCode
574042
Title
Nonlinear PDE observer design for a flexible two-link manipulator
Author
Linjun Zhang ; Jinkun Liu
Author_Institution
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
fYear
2012
fDate
27-29 June 2012
Firstpage
5336
Lastpage
5341
Abstract
This paper proposes an observer for a flexible two-link manipulator based on the nonlinear partial differential equation (PDE) dynamic model. The most attractive feature of this observer is that it can estimate the spatially distributed states based on only boundary measurements. The asymptotical stability of the proposed observer is validated by both theoretical analysis and simulation results.
Keywords
asymptotic stability; control system synthesis; flexible manipulators; observers; partial differential equations; PDE dynamic model; asymptotical stability; boundary measurements; flexible two-link manipulator; nonlinear PDE observer design; nonlinear partial differential equation dynamic model; spatially distributed states; Joints; Manipulator dynamics; Mathematical model; Observers; Sensors; Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2012
Conference_Location
Montreal, QC
ISSN
0743-1619
Print_ISBN
978-1-4577-1095-7
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2012.6314625
Filename
6314625
Link To Document