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|j.automatica.2017.04.017.pdf||1.64 MB||Adobe PDF||View/Open|
|Title:||Boundary cooperative control by flexible Timoshenko arms|
|Authors:||Endo, Takahiro |
|Author's alias:||遠藤, 孝浩|
Distributed parameter systems
|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/|
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|Appears in Collections:||Journal Articles|
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