Title :
Controllability and motion planning for linear delay systems with an application to a flexible rod
Author :
Fliess, Michel ; Mounier, Hugues ; Rouchon, Pierre ; Rudolph, Joachim
Author_Institution :
Lab. des Signaux et Syst., CNRS, Gif-sur-Yvette, France
Abstract :
The wave equation describing the torsional behavior of a flexible rod with a mass is interpreted as a linear delay system. Controllability issues are discussed. A tracking problem is solved and illustrated by some simulations. A stabilizing feedback as well as an asymptotic observer are also proposed
Keywords :
controllability; delay systems; delay-differential systems; feedback; linear systems; observers; path planning; stability; tracking; wave equations; asymptotic observer; controllability; flexible rod; linear delay systems; motion planning; stabilizing feedback; torsional behavior; tracking problem; wave equation; Acceleration; Control systems; Controllability; Delay systems; Feedback; Motion control; Partial differential equations; Torque control; Weight control;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480649
