Nonlinear partial differential equation modeling and adaptive fault-tolerant vibration control of flexible rotatable manipulator in three-dimensional space

摘要

In this article, we investigate the problem of nonlinear modeling and adaptive boundary vibration control with actuator failure for a flexible rotatable manipulator in three-dimensional space, which is made up of a rotatable base and a flexible manipulator. In order to accurately reflect the characteristics of the distributed parameters, the Hamilton principle is introduced to derive the dynamic model expressed by partial differential equations (PDEs). Based on the model, an innovative boundary control scheme is proposed to eliminate the deflection and vibration simultaneously, and to guarantee that the rotatable base and the flexible manipulator can track the desired angle respectively. The adaptive law is developed to estimate the loss of the actuator. The effectiveness of the designed controller is verified from both theoretical analysis and numerical simulation.