Title :
Nonlinear PDE control of two-link flexible arm with nonuniform cross section
Author :
Dogan, Mustafa ; Morgül, Ömer
Author_Institution :
Dept. of Electr. & Electron. Eng., Baskent Univ., Ankara
Abstract :
A two-link flexible arm with nonuniform or variable cross-section by design will be considered based on an exact PDE model with boundary conditions. In this research, the nonlinear controller is used to achieve set-point regulation of the rigid modes as well as suppression of elastic vibrations. The control laws are obtained by energy based Lyapunov approach
Keywords :
flexible manipulators; manipulator kinematics; nonlinear control systems; partial differential equations; vibration control; elastic vibration suppression; energy based Lyapunov approach; nonlinear PDE control; nonuniform cross section; set-point regulation; two-link flexible arm; Boundary conditions; Design engineering; Electric variables control; Energy consumption; Feedback; Frequency; Manipulators; Potential energy; Robots; Vibration control;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1655389
