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• W3174221781 startingPage "6941" @default.
• W3174221781 abstract "This paper addresses the cooperative output feedback control of a mobile dual flexible manipulator, which is mounted at a moving platform to grasp and move a rigid object. We derive the distributed parameter model with geometric constraints for the dual flexible manipulator system by utilizing the Lagrange multiplier method and the Hamilton’s principle, which avoids the problem of control spillover. This paper considers a case where the states of system are difficult to measure directly and exploits the high gain observer theory to design the state observers for estimating the unavailable states. Then the cooperative output feedback control scheme is developed by the Lyapunov’s method, which enables the cooperative control of the flexible manipulator system. Furthermore, under the cooperative output feedback control scheme, we prove that the states of the system are uniformly bounded. Finally, the feasibility of the designed cooperative output feedback controllers is verified by numerical simulation." @default.
• W3174221781 created "2021-07-05" @default.
• W3174221781 creator A5051949246 @default.
• W3174221781 creator A5054920864 @default.
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• W3174221781 date "2021-09-01" @default.
• W3174221781 modified "2023-10-10" @default.
• W3174221781 title "Cooperative output feedback control of a mobile dual flexible manipulator" @default.
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• W3174221781 doi "https://doi.org/10.1016/j.jfranklin.2021.06.004" @default.
• W3174221781 hasPublicationYear "2021" @default.
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