Browsing by Subject "Force control"

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    On the boundary control of a flexible robot arm
    (IEEE, 2001) Morgül, Ömer
    We consider a flexible robot arm modeled as a single flexible link clamped to a rigid body. We assume that the system performs only planar motion. For this system, we pose two control problems; namely, the orientation and stabilization of the system. We propose a class of controllers to solve these problems.
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    Stabilization and disturbance rejection for the beam equation
    (IEEE, 2001) Morgül, Ömer
    We consider a system described by the Euler-Bernoulli beam equation in a bounded domain with appropriate boundary conditions. To stabilize the system, we propose a dynamic boundary controller applied at the free end of the system. We show that with the proposed controller, the closed-loop system is asymptotically stable. Moreover, we consider the case in which the output of the controller is corrupted by disturbance.