Feedback stabilization of one-link flexible robot arms: an infinite-dimensional system approach

This research concerns the design of a controller for a flexible robot arm, which is modelled as a flexible beam clamped to a motor at the one end and free at the other end. A mass is also attached to the free end of the beam. To reduce the vibration of the tip mass, we apply a feedback through the angular acceleration of the motor. The proposed control law is a linear combination of the tip deflection and a linear functional of the beam deflection. We then prove that the closed-loop system is asymptotically stable.