Stabilization of a Flexible Manipulator Model with Passive Joints
نویسندگان
چکیده
To describe the dynamic behavior of a fire rescue turntable ladder the flexibility of the ladder set has to be analyzed. It turned out, that it can be modelled as a flexible manipulator consisting of an arbitrary number of links governed by the Euler-Bernoulli beam equation. The first link is fixed at one end and is driven by a control torque. The last link carries a payload. A peculiarity of the model is that the density and flexural rigidity parameters are allowed to be discontinuous but piecewise constant functions of the spatial coordinate. For the Galerkin approximation of the control system considered, we derive a result on stabilization of the equilibrium. The controller design scheme is based on explicit construction of a Lyapunov function and application of the invariance principle. A simulation of the closed-loop dynamics is carried out in order to show the efficiency of the controller proposed. Copyright c ©2005 IFAC
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