Title :
A tracking controller for the Euler-Bernoulli beam
Author_Institution :
Dept. of Eng., Cambridge Univ., UK
Abstract :
A controller for the Euler-Bernoulli beam is presented with a view to its application on a flexible link robot. It is shown that the controller guarantees asymptotic trajectory tracking for a particular class of initial conditions, requires limited feedback information, and is simple to design. The controller performance is demonstrated through simulation results
Keywords :
distributed parameter systems; position control; robots; Euler-Bernoulli beam; asymptotic trajectory tracking; feedback; flexible link robot; tracking controller; Control design; Eigenvalues and eigenfunctions; Equations; Feedback; Frequency; Robot control; Scholarships; Stability; Torque; Trajectory;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126109
