PDE model-based state-feedback control of constrained moving vehicle-mounted flexible manipulator with prescribed performance

Abstract

In this study, we investigate the state-feedback control problem of a moving vehicle-mounted flexible manipulator with output constraints. Both position regulation and vibration suppression can be accurately carried out based on the partial differential equation (PDE) model we established. The dynamics of piezoelectric actuators and sensors are considered for compensating the gravity effect of the flexible manipulator in the modeling and prescribed performance can be guaranteed with the aid of the performance functions. Further, the tracking error can converge to an arbitrarily small residual set with convergence rate no less than a pre-specified value. State variables of the closed-loop system are proved to be asymptotically stable by using Lyapunov's direct method and the extended LaSalle's Invariance Principle. Simulations are included to validate the effectiveness of the proposed control scheme.