Nonlinear PDE control of two-link flexible arm with nonuniform cross section

Date
2006-06
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Source Title
Proceedings of the American Control Conference
Print ISSN
0743-1619
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Publisher
IEEE
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Pages
400 - 405
Language
English
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Abstract

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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