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
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;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6314625
