Distributed Parameter Modeling and Boundary Control of Flexible Manipulators

• Main Authors: Liu, Jinkun (Author, http://id.loc.gov/vocabulary/relators/aut), He, Wei (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Singapore : Springer Singapore : Imprint: Springer, 2018.
• Edition: 1st ed. 2018.
• Subjects: Robotics.; Automation.; Application software.; Mechanical engineering.; Robotics and Automation.; Computer Applications.; Mechanical Engineering.

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...

Table of Contents:

• 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.