Title :
Stabilization of multi-link flexible beams
Author :
Unbehauen, H. ; Gnedin, A.
Author_Institution :
Dept. of Electr. Eng., Ruhr-Univ., Bochum, Germany
Abstract :
Considers the problem of stabilizing vibrations in a system of interconnected multi-link flexible beams by applying point actuators located at the joints. Boundary and in-span conditions describing linear vibrations are derived within the framework of a Euler-Bernoulli approach. A stability criterion and linear feedback scheme are proposed for the clamped-free configuration. Through this, the elastic energy is damped, and thus the system can be kept close to a nominal position
Keywords :
actuators; damping; elasticity; feedback; stability criteria; vibration control; Euler-Bernoulli approach; boundary conditions; clamped-free configuration; damping; elastic energy; in-span conditions; linear feedback scheme; linear vibrations; multi-link flexible beams; nominal position; point actuators; stability criterion; vibration stabilization; Actuators; Damping; Drilling machines; Equations; Feedback; Manipulator dynamics; Mechanical systems; Robots; Stability criteria; Vibrations;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371263
