Browsing by Subject "Flexible systems"

Now showing 1 - 2 of 2

Unknown
On the control of two-link flexible robot arm with nonuniform cross section
(SAGE, 2010) Dogan, M.; Morgül, Ö.
We consider the motion of a two-link flexible arm with nonuniform cross section. We obtain the equations of motion by using the extended Hamiltons principle. These equations consist of coupled partial differential equations and (nonlinear) ordinary differential equations with appropriate boundary conditions. Our control problem is to achieve the given desired link angles and suppress the link vibrations. To solve this problem, we propose a novel control scheme which consists of a dominant control law together with a parallel controller. We show that with the proposed controller, the control objectives are satisfied. Our stability analysis is based on the Lyapunov approach and LaSalles invariance principle extended to infinite-dimensional systems. We also present some simulation results, which indicate that large parameter uncertainties such as tip and hub mass changes are also handled effectively by the proposed controller.
Unknown
PDE control of a rotating shear beam with boundary feedback
(IEEE, 2009-08) Doğan, M.; Morgül, Ömer
We consider a flexible structure modeled as a shear beam which is clamped to a rigid body at one end and is free at the other end. The whole structure is free to rotate on the horizontal plane. We first model the system by using Partial Differential Equations (PDE) and we propose boundary feedback laws to achieve set point regulation of the rotation angle as well as to suppress the elastic vibrations. The proposed control laws are based on PDE model, hence we do not resort to discretization of the system equations by available methods. We utilize a coordinate transformation based on an invertible integral transformation by using Volterra form and backstepping techniques. We also present some simulation results. © 2009 EUCA.