Modal control of flexible one-link arms with random disturbances

A feedback control method for flexible one-link arms is derived by using the modal control approach. A mathematical model of the dynamics of arms is formulated as a class of stochastic distributed parameter systems by taking into account the effects of damping due to the elasto-viscosity of the material of arms and random disturbances, e.g. system noises, sensor noises, etc. A modal state estimator is designed so as to reduce the effects of observation spillover, and a feedback controller for absorbing the vibration of the arms and positioning arm tip is developed based on the modal state estimator. The stability of the controlled system including the state estimator is analyzed with attention given to the effects of observation and control spillovers. The results of numerical simulation experiments are shown