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Title: Boundary cooperative control by flexible Timoshenko arms
Authors: Endo, Takahiro  kyouindb  KAKEN_id
Matsuno, Fumitoshi
Jia, Yingmin
Author's alias: 遠藤, 孝浩
松野, 文俊
Keywords: Flexible arms
Cooperative control
Force control
Exponentially stable
Distributed parameter systems
Issue Date: Jul-2017
Publisher: Elsevier BV
Journal title: Automatica
Volume: 81
Start page: 377
End page: 389
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.
Rights: © 2017. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
The full-text file will be made open to the public on 01 July 2019 in accordance with publisher's 'Terms and Conditions for Self-Archiving'
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/232625
DOI(Published Version): 10.1016/j.automatica.2017.04.017
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