Title :
Dynamics based control of two-link flexible arm
Author :
Matsuno, Fumitoshi ; Endo, Takahiro
Author_Institution :
Univ. of Electro-Commun., Tokyo, Japan
Abstract :
We discuss a design of controller for a two-link flexible arm based on a distributed parameter model. Using Lyapunov method, we derive a PDS controller that the system becomes Lyapunov stable and that the system in neighborhood of a desired configuration becomes asymptotically stable. As the controller is derived based on the distributed parameter model, we can avoid the drawbacks resulting from finite dimensional approximation.
Keywords :
Lyapunov methods; PD control; asymptotic stability; closed loop systems; control system synthesis; distributed parameter systems; feedback; flexible structures; Lyapunov method; Lyapunov stability; PDS controller design; asymptotic stability; closed loop systems; distributed parameter model; dynamics based control; feedback; finite dimensional approximation; two link flexible arm; Adaptive control; Aerospace industry; Asymptotic stability; Control systems; Distributed parameter systems; Elasticity; Flexible structures; Lyapunov method; Orbital robotics; Service robots;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297655
