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Article: Boundary stabilization of a flexible manipulator with rotational inertia

TitleBoundary stabilization of a flexible manipulator with rotational inertia
Authors
Issue Date2005
PublisherKhayyam Publishing Company, Inc.. The Journal's web site is located at http://www.aftabi.com/DIE.html
Citation
Differential and Integral Equations, 2005, v. 18 n. 9, p. 1013-1038 How to Cite?
AbstractWe design a stabilizing linear boundary feedback control for a one-link flexible manipulator with rotational inertia. The system is modelled as a Rayleigh beam rotating around one endpoint, with the torque at this endpoint as the control input. The closed-loop system is nondissipative, so that its well posedness is not easy to establish. We study the asymptotic properties of the eigenvalues and eigenvectors of the corresponding operator A and establish that the generalized eigenvectors form a Riesz basis for the energy state space. It follows that A generates a C0-semigroup that satisfies the spectrum-determined growth assumption. This semigroup is exponentially stable under certain conditions on the feedback gains. If the higher-order feedback gain is set to zero, then we obtain a polynomial decay rate for the semigroup.
Persistent Identifierhttp://hdl.handle.net/10722/75467
ISSN
2015 Impact Factor: 0.851
2015 SCImago Journal Rankings: 1.281

 

DC FieldValueLanguage
dc.contributor.authorGuo, BZen_HK
dc.contributor.authorWang, JMen_HK
dc.contributor.authorYung, SPen_HK
dc.date.accessioned2010-09-06T07:11:23Z-
dc.date.available2010-09-06T07:11:23Z-
dc.date.issued2005en_HK
dc.identifier.citationDifferential and Integral Equations, 2005, v. 18 n. 9, p. 1013-1038en_HK
dc.identifier.issn0893-4983-
dc.identifier.urihttp://hdl.handle.net/10722/75467-
dc.description.abstractWe design a stabilizing linear boundary feedback control for a one-link flexible manipulator with rotational inertia. The system is modelled as a Rayleigh beam rotating around one endpoint, with the torque at this endpoint as the control input. The closed-loop system is nondissipative, so that its well posedness is not easy to establish. We study the asymptotic properties of the eigenvalues and eigenvectors of the corresponding operator A and establish that the generalized eigenvectors form a Riesz basis for the energy state space. It follows that A generates a C0-semigroup that satisfies the spectrum-determined growth assumption. This semigroup is exponentially stable under certain conditions on the feedback gains. If the higher-order feedback gain is set to zero, then we obtain a polynomial decay rate for the semigroup.-
dc.languageengen_HK
dc.publisherKhayyam Publishing Company, Inc.. The Journal's web site is located at http://www.aftabi.com/DIE.html-
dc.relation.ispartofDifferential and Integral Equationsen_HK
dc.titleBoundary stabilization of a flexible manipulator with rotational inertiaen_HK
dc.typeArticleen_HK
dc.identifier.emailYung, SP: spyung@hkucc.hku.hken_HK
dc.identifier.authorityYung, SP=rp00838en_HK
dc.identifier.hkuros109442en_HK
dc.identifier.volume18-
dc.identifier.issue9-
dc.identifier.spage1013-
dc.identifier.epage1038-
dc.publisher.placeUnited States-

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