DocumentCode
2969666
Title
Dynamics based control of two-link flexible arm
Author
Matsuno, Fumitoshi ; Endo, Takahiro
Author_Institution
Univ. of Electro-Commun., Tokyo, Japan
fYear
2004
fDate
25-28 March 2004
Firstpage
135
Lastpage
140
Abstract
We discuss a design of controller for a two-link flexible arm based on a distributed parameter model. Using Lyapunov method, we derive a PDS controller that the system becomes Lyapunov stable and that the system in neighborhood of a desired configuration becomes asymptotically stable. As the controller is derived based on the distributed parameter model, we can avoid the drawbacks resulting from finite dimensional approximation.
Keywords
Lyapunov methods; PD control; asymptotic stability; closed loop systems; control system synthesis; distributed parameter systems; feedback; flexible structures; Lyapunov method; Lyapunov stability; PDS controller design; asymptotic stability; closed loop systems; distributed parameter model; dynamics based control; feedback; finite dimensional approximation; two link flexible arm; Adaptive control; Aerospace industry; Asymptotic stability; Control systems; Distributed parameter systems; Elasticity; Flexible structures; Lyapunov method; Orbital robotics; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN
0-7803-8300-1
Type
conf
DOI
10.1109/AMC.2004.1297655
Filename
1297655
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