Nonlinear PDE control of two-link flexible arm with nonuniform cross section
Proceedings of the American Control Conference
Please cite this item using this persistent URLhttp://hdl.handle.net/11693/27199
A two-link flexible arm with nonuniform or variable cross-section by design will be considered based on an exact PDE model with boundary conditions. In this research, the nonlinear controller is used to achieve set-point regulation of the rigid modes as well as suppression of elastic vibrations. The control laws are obtained by energy based Lyapunov approach. © 2006 IEEE.
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