DocumentCode
3181413
Title
Stabilizing law for a flexible arm in torsion
Author
Icart, S. ; Leblond, J. ; Samson, C.
Author_Institution
INRIA-Prisme & I3S-Lassy, Valbonne, France
fYear
1992
fDate
12-14 May 1992
Firstpage
794
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220272
Filename
220272
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