Non-collocated boundary control for contact-force control of a one-link flexible arm

HANDLE オープンアクセス
  • 山口, 開陽
    Department of Mechanical Engineering and Science, Kyoto University
  • 遠藤, 孝浩
    Department of Mechanical Engineering and Science, Kyoto University
  • 河合, 優太
    Department of Mechanical Engineering and Science, Kyoto University
  • 松野, 文俊
    Department of Mechanical Engineering and Science, Kyoto University

抄録

This paper deals with contact-force control of a one-link flexible arm whose tip is constrained to a rigid environment. To realize the contact-force control, a boundary controller is proposed based on a dynamic model represented by an infinite dimensional model. In particular, the proposed controller does not need the physical parameters in its implementation, and this results in the non-collocated boundary controller. The closed-loop system is analyzed in an appropriate Hilbert space, and it is shown that the exponential stability of the closed-loop system is obtained by setting the feedback gains to locate the eigenvalues of the closed-loop system on the complex left half-plane. In addition, in an attempt to realize the better control performance, another controller which is a modified version of our controller is proposed. Finally, the stability, robustness to the uncertainty in physical parameters, and disturbance response of the closed-loop system are investigated by numerical simulations.

収録刊行物

詳細情報

  • CRID
    1050566774746916736
  • NII論文ID
    120006846481
  • ISSN
    00160032
  • HANDLE
    2433/250993
  • 本文言語コード
    en
  • 資料種別
    journal article
  • データソース種別
    • IRDB
    • CiNii Articles

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