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Conference Paper: A Design of Robust Feedback Control for Flexible Robotic Mechanisms
| Title | A Design of Robust Feedback Control for Flexible Robotic Mechanisms |
|---|---|
| Authors | |
| Keywords | Euler-Bernoulli beam Boundary feedback control Non-disspiativity |
| Issue Date | 2003 |
| Publisher | IEEE. |
| 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? |
| Abstract | We 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 Identifier | http://hdl.handle.net/10722/46611 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Yung, SP | en_HK |
| dc.contributor.author | Xu, G | en_HK |
| dc.contributor.author | Wang, J | en_HK |
| dc.date.accessioned | 2007-10-30T06:54:09Z | - |
| dc.date.available | 2007-10-30T06:54:09Z | - |
| dc.date.issued | 2003 | en_HK |
| dc.identifier.citation | The 9th IEEE International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 25-28 August 2003, p. 55-64 | en_HK |
| dc.identifier.uri | http://hdl.handle.net/10722/46611 | - |
| dc.description.abstract | We 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.extent | 2806316 bytes | - |
| dc.format.extent | 2365 bytes | - |
| dc.format.mimetype | application/pdf | - |
| dc.format.mimetype | text/plain | - |
| dc.language | eng | en_HK |
| dc.publisher | IEEE. | en_HK |
| 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.subject | Euler-Bernoulli beam | en_HK |
| dc.subject | Boundary feedback control | en_HK |
| dc.subject | Non-disspiativity | en_HK |
| dc.title | A Design of Robust Feedback Control for Flexible Robotic Mechanisms | en_HK |
| dc.type | Conference_Paper | en_HK |
| dc.description.nature | published_or_final_version | en_HK |
| dc.identifier.hkuros | 84268 | - |