Force Control and Exponential Stability for One-link Flexible Arm
نویسندگان
چکیده
We discuss a force control problem for a constrained one-link flexible arm based on distributed parameter model. In order to solve the force control problem, we propose a simple feedback control law. This control law consists of bending moment at the root of the flexible arm and its derivative, which regulates simultaneously the force and the rotational angle of the motor without the angle and the force information. Then it provides the exponential stability of the closed-loop system by using energy multiplier method. As the control law is derived based on the distributed parameter model, we can avoid the drawbacks resulting from finite dimensional approximation. Copyright c ⃝2005 IFAC
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