Title :
Stabilizing law for a flexible arm in torsion
Author :
Icart, S. ; Leblond, J. ; Samson, C.
Author_Institution :
INRIA-Prisme & I3S-Lassy, Valbonne, France
Abstract :
The authors study a certain class of stabilizing laws for a flexible arm either in torsion or in compression. They first choose a discrete-model of this arm, and then the arm is modeled by a classical partial differential equation. A sufficient condition for the stability of both closed-loop systems is given. This sufficient condition requires that the gain of the control law act positively on the eigenfunctions of the autonomous system
Keywords :
closed loop systems; distributed parameter systems; large-scale systems; partial differential equations; robots; stability criteria; torsion; closed-loop systems; compression; eigenfunctions; flexible arm; partial differential equation; stabilizing laws; torsion; Control systems; PD control; Partial differential equations; Proportional control; Robots; Robust control; Springs; Stability; Torque control; Weight control;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220272
