Title :
On the control of a flexible beam colliding against an infinitely rigid and massive obstacle
Author :
Menini, L. ; Tornambe, Antonio ; Zaccarian, L.
Author_Institution :
Dipt. Inf. Sistemi e Produzione, Rome Univ., Italy
Abstract :
The aim of this paper is, first, to derive the motion equations of a flexible beam subject to inequality constraints, by looking for the stationary value of action integral. The method of the Valentine variables (1937) is used to take into account the inequality constraints, in the computation of the stationary value of the action integral. Secondly, a PD feedback control law from the hinge position and velocity is studied; the closed-loop system shows valuable global asymptotic stability properties. The effectiveness of the proposed control structure is tested experimentally
Keywords :
asymptotic stability; closed loop systems; feedback; flexible structures; two-term control; PD feedback control law; action integral; closed-loop system; flexible beam collision; global asymptotic stability properties; hinge position; hinge velocity; inequality constraints; motion equations; stationary value; Asymptotic stability; Control systems; Extremities; Fasteners; Feedback control; Gravity; Integral equations; Mechanical systems; PD control; Weight control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650625
