PDE modeling and control of a flexible two-link manipulator

Author

Zhang, X. ; Xu, W. ; Nair, S.S. ; Chellaboina, V.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA

Volume

5

fYear

2002

fDate

2002

Firstpage

3796

Abstract

A partial differential equation model for a flexible two-link manipulator is derived using the Hamilton principle. A stable strain feedback control design is then proposed based on insights into the dynamics. Stability is established using a Lyapunov-based design approach. A two-link hardware setup is used to validate the analytical model and the proposed stable control design. This control approach, which is energy based; can also be extended to multi-arm flexible link configurations.

Keywords

Lyapunov methods; control system synthesis; feedback; flexible manipulators; partial differential equations; stability; strain control; Hamilton principle; Lyapunov based design approach; PDE control; PDE modeling; flexible two-link manipulator; multiarm flexible link configurations; partial differential equation; stable strain feedback control design; two-link hardware setup; Aerodynamics; Boundary conditions; Capacitive sensors; Control design; Feedback control; Manipulator dynamics; Partial differential equations; Shape; Stability; Strain control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2002. Proceedings of the 2002

ISSN

0743-1619

Print_ISBN

0-7803-7298-0

Type

conf

DOI

10.1109/ACC.2002.1024519

Filename

1024519