Exponential stability of dual flexible arms for grasping and orientation control

被引：6

作者：

Endo, Takahiro ^{[1
]}

Umemoto, Kazuki ^{[2
]}

Matsuno, Fumitoshi ^{[1
]}

机构：

[1] Kyoto Univ, Dept Mech Engn & Sci, Kyoto, Japan

[2] Nagaoka Univ Technol, Dept Mech Engn, Nagaoka, Niigata, Japan

来源：

IET CONTROL THEORY AND APPLICATIONS | 2019年 / 13卷 / 16期

关键词：

flexible manipulators; closed loop systems; distributed parameter systems; partial differential equations; beams (structures); asymptotic stability; exponential stability; dual flexible arms; grasping; orientation control; one-link flexible arms; Euler-Bernoulli beam model; stability analysis; hybrid PDE-ODE model; frequency domain method; boundary controller; closed-loop system; hybrid partial differential equation; ordinary differential equation; COOPERATIVE CONTROL; HYBRID SYSTEM; STABILIZATION; MANIPULATORS; DESIGN;

D O I：

10.1049/iet-cta.2019.0359

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The stability of two one-link flexible arms for grasping and orientation control of an object is studied. Flexible arms are modelled by Euler-Bernoulli beam model and the overall system is represented by a hybrid partial differential equation (PDE)-ordinary differential equation (ODE) model. The authors' primary concern is the stability analysis of this hybrid PDE-ODE model. In particular, they use the frequency domain method and prove the exponential stability of this system under their previously proposed boundary controller. In addition, they discuss the robustness of the closed-loop system with respect to the several disturbances including disturbances distributed over the arms and disturbances acting at boundaries. Finally, simulation results are presented to investigate the theoretical results.

引用

页码：2546 / 2555

页数：10

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