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Conference Paper: A Design of Robust Feedback Control for Flexible Robotic Mechanisms

TitleA Design of Robust Feedback Control for Flexible Robotic Mechanisms
Authors
KeywordsEuler-Bernoulli beam
Boundary feedback control
Non-disspiativity
Issue Date2003
PublisherIEEE.
Citation
The 9th IEEE International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 25-28 August 2003, p. 55-64 How to Cite?
AbstractWe study flexible robotic arms that are free to rotate and bend in the horizontal plane but are stiff in vertical bending and torsion. A motor connected to the hinged end drives the arm to a prescribed target position and it is the aim of this paper to design boundary feedback controller to stabilize the arm once it reaches the atarget position. A distinct difficulty is the non-dissipativity that arises from the requirement that the designed feedback should retain 0 as an eigenvalue in order not to change the rigid body mode shape of the arm. On preserving this zero eigenvalue, we have successfully constructed a boundary feedback that is robustly stable with respect to the target position by showing it is exponentially stable there.
Persistent Identifierhttp://hdl.handle.net/10722/46611

 

DC FieldValueLanguage
dc.contributor.authorYung, SPen_HK
dc.contributor.authorXu, Gen_HK
dc.contributor.authorWang, Jen_HK
dc.date.accessioned2007-10-30T06:54:09Z-
dc.date.available2007-10-30T06:54:09Z-
dc.date.issued2003en_HK
dc.identifier.citationThe 9th IEEE International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 25-28 August 2003, p. 55-64en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46611-
dc.description.abstractWe study flexible robotic arms that are free to rotate and bend in the horizontal plane but are stiff in vertical bending and torsion. A motor connected to the hinged end drives the arm to a prescribed target position and it is the aim of this paper to design boundary feedback controller to stabilize the arm once it reaches the atarget position. A distinct difficulty is the non-dissipativity that arises from the requirement that the designed feedback should retain 0 as an eigenvalue in order not to change the rigid body mode shape of the arm. On preserving this zero eigenvalue, we have successfully constructed a boundary feedback that is robustly stable with respect to the target position by showing it is exponentially stable there.en_HK
dc.format.extent2806316 bytes-
dc.format.extent2365 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.subjectEuler-Bernoulli beamen_HK
dc.subjectBoundary feedback controlen_HK
dc.subjectNon-disspiativityen_HK
dc.titleA Design of Robust Feedback Control for Flexible Robotic Mechanismsen_HK
dc.typeConference_Paperen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.hkuros84268-

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