Title :
PDE modeling and control of a flexible two-link manipulator
Author :
Zhang, X. ; Xu, W. ; Nair, S.S. ; Chellaboina, V.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA
Abstract :
A partial differential equation model for a flexible two-link manipulator is derived using the Hamilton principle. A stable strain feedback control design is then proposed based on insights into the dynamics. Stability is established using a Lyapunov-based design approach. A two-link hardware setup is used to validate the analytical model and the proposed stable control design. This control approach, which is energy based; can also be extended to multi-arm flexible link configurations.
Keywords :
Lyapunov methods; control system synthesis; feedback; flexible manipulators; partial differential equations; stability; strain control; Hamilton principle; Lyapunov based design approach; PDE control; PDE modeling; flexible two-link manipulator; multiarm flexible link configurations; partial differential equation; stable strain feedback control design; two-link hardware setup; Aerodynamics; Boundary conditions; Capacitive sensors; Control design; Feedback control; Manipulator dynamics; Partial differential equations; Shape; Stability; Strain control;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024519
