Nonlinear PDE observer design for a flexible two-link manipulator

Linjun Zhang; Jinkun Liu

doi:10.1109/ACC.2012.6314625

Nonlinear PDE observer design for a flexible two-link manipulator

Linjun Zhang^*
, Jinkun Liu

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

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.

Original language	English
Title of host publication	2012 American Control Conference, ACC 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5336-5341
Number of pages	6
ISBN (Print)	9781457710957
DOIs	https://doi.org/10.1109/ACC.2012.6314625
State	Published - 2012
Event	2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: 27 Jun 2012 → 29 Jun 2012

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2012 American Control Conference, ACC 2012
Country/Territory	Canada
City	Montreal, QC
Period	27/06/12 → 29/06/12

Access to Document

10.1109/ACC.2012.6314625

Cite this

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title = "Nonlinear PDE observer design for a flexible two-link manipulator",

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.",

author = "Linjun Zhang and Jinkun Liu",

year = "2012",

doi = "10.1109/ACC.2012.6314625",

language = "英语",

isbn = "9781457710957",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "2012 American Control Conference, ACC 2012 ; Conference date: 27-06-2012 Through 29-06-2012",

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Zhang, L & Liu, J 2012, Nonlinear PDE observer design for a flexible two-link manipulator. in 2012 American Control Conference, ACC 2012., 6314625, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 5336-5341, 2012 American Control Conference, ACC 2012, Montreal, QC, Canada, 27/06/12. https://doi.org/10.1109/ACC.2012.6314625

Nonlinear PDE observer design for a flexible two-link manipulator. / Zhang, Linjun; Liu, Jinkun.
2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 5336-5341 6314625 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Liu, Jinkun

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AB - 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.

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SN - 9781457710957

T3 - Proceedings of the American Control Conference

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2012 American Control Conference, ACC 2012

Y2 - 27 June 2012 through 29 June 2012

ER -

Nonlinear PDE observer design for a flexible two-link manipulator

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