Further theoretical results on direct strain feedback control of flexible robot arms

This paper is concerned with stability analyses for some nonstandard second-order partial differential equations arising from direct strain feedback control of flexible robot arms. Exponential stability issues are addressed for three types of differential equations, one of which is in general abstract evolution equation form and the other two are in partial differential equation form. The obtained results are of especially theoretical interest because they reveal the essence of direct strain feedback control and demonstrate its power in control of flexible arms. >

[1]  R. Curtain,et al.  Functional Analysis in Modern Applied Mathematics , 1977 .

[2]  D. Russell,et al.  A mathematical model for linear elastic systems with structural damping , 1982 .

[3]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[4]  Fumitoshi Matsuno,et al.  Modeling and feedback control of a flexible arm , 1985, J. Field Robotics.

[5]  A. Krall,et al.  Modeling stabilization and control of serially connected beams , 1987 .

[6]  F. Huang.  On the mathematical model for linear elastic systems with analytic damping , 1988 .

[7]  R. M. Hirschorn,et al.  Tracking control of a flexible robot link , 1988 .

[8]  Ö. Morgül.  Orientation and stabilization of a flexible beam attached to a rigid body: planar motion , 1991 .

[9]  Zheng-Hua Luo,et al.  Stability Analysis of Direct Strain Feedback Control of Flexible Robot Arms , 1992, 1992 American Control Conference.

[11]  Ö. Morgül.  Dynamic boundary control of a Euler-Bernoulli beam , 1992 .

[12]  A state-space approach to H∞-control problems for infinite-dimensional systems , 1993 .

[13]  R. Rebarber.  Conditions for the equivalence of internal and external stability for distributed parameter systems , 1993, IEEE Trans. Autom. Control..

[14]  Z. Luo.  Direct strain feedback control of flexible robot arms: new theoretical and experimental results , 1993, IEEE Trans. Autom. Control..

[15]  Semigroup approach to the stability of a direct strain feedback control system of elastic vibration with structure damping , 1994 .