Output Feedback Stabilization of a Flexible Beam with Hydraulic Drive

Author

Nguyen, Tu Duc ; Egeland, Olav

Author_Institution

Fac. of Inf. Technol., Math. & Electr. Eng., Norwegian Univ. of Sci. & Technol., Trondheim

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

2453

Lastpage

2458

Abstract

This paper addresses the output feedback stabilization problem for a flexible beam with hydraulic drive. The beam is clamped to a hydraulic motor at one end and attached to a force actuator at the other. Based on measurements at the boundaries, an exponentially stable observer is proposed. Using the information from the observer, exponentially stable control laws which allows the beam to stabilize at given desired angle and damp out the elastic vibrations, are designed. The well-posedness and stability of the solutions of the closed loop system and the observer are based on semigroup theory

Keywords

asymptotic stability; beams (structures); closed loop systems; feedback; flexible structures; group theory; hydraulic drives; hydraulic motors; observers; vibration control; closed loop system; elastic vibration; exponential stability observer; flexible beam; force actuator; hydraulic drive; hydraulic motor; output feedback stabilization; semigroup theory; Closed loop systems; Distributed parameter systems; Equations; Flexible structures; Hydraulic actuators; Hydraulic drives; Output feedback; Robots; Stability; Structural beams;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.376712

Filename

4177592