Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4999785 | Automatica | 2017 | 13 Pages |
Abstract
This paper discusses a cooperative control problem by two one-link flexible Timoshenko arms. The goal is to control a grasping force to collect an object with the two flexible arms, and to simultaneously suppress the vibrations of the arms. To solve this problem, we propose a boundary controller that is based on a dynamic model represented by a hybrid PDE-ODE model; the exponential stability of the closed-loop system is then proven by the frequency domain method. Finally, several numerical simulations are carried out to investigate the validity of the proposed boundary cooperative controller.
Keywords
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Takahiro Endo, Fumitoshi Matsuno, Yingmin Jia,