On the control of two-link flexible robot arm with nonuniform cross section

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dc.citation.epage646en_US
dc.citation.issueNumber5en_US
dc.citation.spage619en_US
dc.citation.volumeNumber16en_US
dc.contributor.authorDogan, M.en_US
dc.contributor.authorMorgül, Ö.en_US
dc.date.accessioned2016-02-08T09:59:06Z
dc.date.available2016-02-08T09:59:06Z
dc.date.issued2010en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractWe 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.en_US
dc.identifier.doi10.1177/1077546309340994en_US
dc.identifier.issn1077-5463
dc.identifier.urihttp://hdl.handle.net/11693/22361
dc.language.isoEnglishen_US
dc.publisherSAGEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1177/1077546309340994en_US
dc.source.titleJVC/Journal of Vibration and Controlen_US
dc.subjectBoundary controlen_US
dc.subjectFlexible systemsen_US
dc.subjectNonuniform beamsen_US
dc.subjectPartial differential equationsen_US
dc.titleOn the control of two-link flexible robot arm with nonuniform cross sectionen_US
dc.typeArticleen_US

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