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


Doğan M., Morgül Ö.

2006 American Control Conference, Minneapolis, MN, United States Of America, 14 - 16 June 2006, vol.2006, pp.400-405 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 2006
  • Doi Number: 10.1109/acc.2006.1655389
  • City: Minneapolis, MN
  • Country: United States Of America
  • Page Numbers: pp.400-405
  • Istanbul Technical University Affiliated: No

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.