Non-collocated boundary control for contact-force control of a one-link flexible arm
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
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- Journal of the Franklin Institute
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Journal of the Franklin Institute 357 (7), 4109-4131, 2020-05
Elsevier Ltd
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キーワード
詳細情報
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- CRID
- 1050566774746916736
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- NII論文ID
- 120006846481
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- ISSN
- 00160032
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- HANDLE
- 2433/250993
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- 本文言語コード
- en
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- 資料種別
- journal article
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- データソース種別
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- IRDB
- CiNii Articles