South China University of Technology

Guangzhou Xiaopeng Motors Technology Co., Ltd.

Yu Liu

He Cai

Bo Song

Huanli Gao

Gongwu Luo

Qunyu Fu

Yi Lai

Yi Jiang

Weimin He

Yanfei Liu

Xian Wu

A method for controlling vibration of flexible mechanical arms based on cooperative tracking is disclosed, including: building a dynamic model of the flexible mechanical arm, according to a dynamic characteristic, constructing a flexible mechanical arm group made up of a plurality of flexible mechanical arms, assigning one of the plurality of flexible mechanical arms as a leader and the rest ones as followers which are required to track the leader's motion trajectory so as to realize cooperative work; designing cooperative control-based boundary controllers in combination with a Lyapunov method to realize cooperative work and suppress vibration of the flexible mechanical arms; and constructing a Lyapunov function using Lyapunov direct method to validate stability of the flexible mechanical arms under the control.

Method for controlling vibration of flexible mechanical arm based on cooperative tracking

Growing community of inventors

GUANGZHOU, China

Yu Liu