Optimal trajectory control of flexible two-link manipulator based on PDE model

Linjun Zhang; Jinkun Liu

doi:10.1109/CDC.2012.6427070

Optimal trajectory control of flexible two-link manipulator based on PDE model

Linjun Zhang^*
, Jinkun Liu

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Contribution to journal › Conference article › peer-review

15 Scopus citations

Abstract

This paper studies optimal trajectory control of a flexible two-link manipulator based on the partial differential equation (PDE) dynamic model. To avoid deriving optimal control directly from the cost function, which is difficult for PDE systems, we design the optimal boundary control in two steps. First, the differential evolution algorithm is applied to generate the optimal trajectory that minimizes the total energy consumption. Then, a boundary control scheme is proposed to regulate the joints along the optimal trajectories and suppress vibration simultaneously. The effectiveness of the proposed control is validated via simulations.

Original language	English
Article number	6427070
Pages (from-to)	4406-4411
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/CDC.2012.6427070
State	Published - 2012
Event	51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: 10 Dec 2012 → 13 Dec 2012

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/CDC.2012.6427070

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abstract = "This paper studies optimal trajectory control of a flexible two-link manipulator based on the partial differential equation (PDE) dynamic model. To avoid deriving optimal control directly from the cost function, which is difficult for PDE systems, we design the optimal boundary control in two steps. First, the differential evolution algorithm is applied to generate the optimal trajectory that minimizes the total energy consumption. Then, a boundary control scheme is proposed to regulate the joints along the optimal trajectories and suppress vibration simultaneously. The effectiveness of the proposed control is validated via simulations.",

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AB - This paper studies optimal trajectory control of a flexible two-link manipulator based on the partial differential equation (PDE) dynamic model. To avoid deriving optimal control directly from the cost function, which is difficult for PDE systems, we design the optimal boundary control in two steps. First, the differential evolution algorithm is applied to generate the optimal trajectory that minimizes the total energy consumption. Then, a boundary control scheme is proposed to regulate the joints along the optimal trajectories and suppress vibration simultaneously. The effectiveness of the proposed control is validated via simulations.

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ER -

Optimal trajectory control of flexible two-link manipulator based on PDE model

Abstract

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