Boundary antisaturation vibration control design for a flexible Timoshenko robotic manipulator

Zhijia Zhao, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


This article focuses on the angle positioning and vibration isolation of flexible Timoshenko manipulators possessing extraneous disturbances and saturation nonlinearities. Boundary control strategies with auxiliary systems are presented to achieve the expected angle, suppress the shear deformation and elastic oscillation, and mitigate the saturation nonlinearities effect. With the constructed controllers, a controlled system is ensured and certified to be exponentially stable. The simulation and comparison results show the control performance of the suggested approach.

Original languageEnglish
Pages (from-to)1098-1114
Number of pages17
JournalInternational Journal of Robust and Nonlinear Control
Issue number3
Publication statusPublished - 2020 Feb 1


  • Lyapunov direct method
  • Timoshenko manipulator
  • antisaturation control
  • boundary control
  • vibration control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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