Boundary cooperative control by flexible Timoshenko arms. (July 2017)

• Record Type: Journal Article
• Authors: Endo, Takahiro; Matsuno, Fumitoshi; Jia, Yingmin
• Is Part Of: Automatica. Volume 81(2017)
• Page Start: 377
• Page End: 389
• Publication Date: 2017-07
• Subjects: Flexible arms -- Cooperative control -- Force control -- Exponentially stable -- Distributed parameter systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2017.04.017
• Languages: English
• ISSNs: 0005-1098

Abstract

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.