Title :
Stabilization of flexible robot arm by means of pointwise controls
Author :
Cao, Xue-Guang ; Han, Zhong-Jie ; Xu, Gen-Qi
Author_Institution :
Dept. of Math., Tianjin Univ., Tianjin, China
Abstract :
In this paper, the stabilization problem of a flexible robot arm model with pointwise boundary feedback controls is considered. A test system, which consists of the dominant parts of the closed loop system, is used to check the stability of the system. Under certain condition, the closed loop system is proved to be asymptotically stable but not exponentially stable.
Keywords :
asymptotic stability; closed loop systems; feedback; flexible manipulators; asymptotic stability; closed loop system; flexible robot arm model; pointwise boundary feedback control; stabilization problem; system stability; test system; Asymptotic stability; Closed loop systems; Equations; Feedback control; Mathematical model; Robots; Stability analysis; pointwise control; spectrum; stability; stabilization;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6244293
