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

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Nonlinear PDE control of two-link flexible arm with nonuniform cross section.pdf (382.53 KB)

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

Type

Conference Paper

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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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Keywords

Boundary conditions , Elasticity , Lyapunov methods , Mathematical models , Vibration control , Elastic vibrations , Nonlinear controllers , PDE control , Nonlinear control systems

Citation

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http://hdl.handle.net/11693/27199

item.page.isversionof

https://doi.org/10.1109/ACC.2006.1655389

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Department of Electrical and Electronics Engineering