DocumentCode
416725
Title
PDS control of flexible mechanical systems based on distributed parameter system
Author
Matsuno, Fumitoshi ; Endo, Takahiro
Author_Institution
Electro-Communications/Chofu Univ., Tokyo, Japan
Volume
3
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
2623
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; control system synthesis; distributed parameter systems; manipulators; position control; Lyapunov method; PDS control; asymptotic stability; distributed parameter system; flexible mechanical systems; position control; two-link flexible arm;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1323663
Link To Document