Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling

Yunxia Wei; Yuanfei Zhang; Bin Hang; Yunxia Wei; Yuanfei Zhang; Bin Hang

doi:10.3934/mbe.2023641

Mathematical Biosciences and Engineering

2023, Volume 20, Issue 8: 14327-14352. doi: 10.3934/mbe.2023641

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Research article

Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling

1.
Wuxi Vocational College of Science and Technology, Jiangsu, Wuxi 214028, China
2.
MEMSIC Semiconductor (Wuxi) Co., Ltd
3.
School of Automation, Northwestern Polytechnical University, Shaanxi, Xi'an 710072, China

Academic Editor: Jia Zhao

Received: 22 March 2023 Revised: 11 June 2023 Accepted: 22 June 2023 Published: 29 June 2023

With the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), the partial differential equations (PDEs) dynamic model of a manipulator system is established based on the Hamilton principle (HP). Second, the boundary control condition of the end system of the manipulator is introduced to adjust the vibration of the manipulator. Furthermore, a Proportional-Derivative (PD) boundary control (PDBC) strategy is proposed by the Lyapunov function to suppress the vibration of the manipulator. Finally, a numerical comparison simulation based on MATLAB/SIMULINK further verifies the robustness and anti-disturbance performance of the control method proposed in this paper.
- flexible manipulator,
- Hamilton principle,
- partial differential equations,
- boundary control
Citation: Yunxia Wei, Yuanfei Zhang, Bin Hang. Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling[J]. Mathematical Biosciences and Engineering, 2023, 20(8): 14327-14352. doi: 10.3934/mbe.2023641

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Abstract

With the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), the partial differential equations (PDEs) dynamic model of a manipulator system is established based on the Hamilton principle (HP). Second, the boundary control condition of the end system of the manipulator is introduced to adjust the vibration of the manipulator. Furthermore, a Proportional-Derivative (PD) boundary control (PDBC) strategy is proposed by the Lyapunov function to suppress the vibration of the manipulator. Finally, a numerical comparison simulation based on MATLAB/SIMULINK further verifies the robustness and anti-disturbance performance of the control method proposed in this paper.

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