Lyapunov-based Force Control of a Flexible Arm Considering Bending and Torsional Deformation
نویسندگان
چکیده
This paper describes the Lyapunov-based force control suppressing the coupled bending and torsional vibrations of a one-link flexible arm with a rigid tip body. On the basis of the distributed parameter model, the output feedback control law is constructed using Lyapunov method, and the asymptotic stability of the closedloop system is proved. The proposed controller consists of the PD feedback of the motor angle and a feedback of the bending strain at the root of the flexible arm. Some simulations are performed to show the effectiveness of the proposed controller.
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Force Control and Exponential Stability for One-link Flexible Arm
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