Force control and exponential stabilisation of one-link flexible arm

Endo, Takahiro; Matsuno, Fumitoshi; Kawasaki, Haruhisa

doi:10.1080/00207179.2014.889854

Cited by 30 publications

(31 citation statements)

References 25 publications

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“…Now we can obtain the following equations of motion by applying Hamilton's principle and the Lagrange multiplier, and using the procedure described in [14]: for…”

Section: A Dynamics Of a Constrained Flexible Timoshenko Armmentioning

confidence: 99%

“…First, we apply our previously proposed force controller [14], [17] to the force-control problem of the flexible Timoshenko arm making contact with a rigid environment. Here, our controller was proposed for force-control of a flexible Euler-Bernoulli arm as it made contact with a rigid environment, and the controller exponentially stabilized the closed-loop system.…”

Section: Introductionmentioning

confidence: 99%

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Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment

Endo

Sasaki

Matsuno

et al. 2017

IEEE Trans. Automat. Contr.

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This paper discusses a contact-force control problem of a one-link flexible arm. This flexible arm includes a Timoshenko beam, and thus we call it the flexible Timoshenko arm. The primary aim is to control the contact force at the contact point. To do so, we first apply our previously proposed force controller, which exponentially stabilizes the closed-loop system of a flexible Euler-Bernoulli arm, to the force-control problem of the flexible Timoshenko arm. We then show that our previously proposed force controller cannot exponentially stabilize the flexible Timoshenko arm. Next, we consider the flexible Timoshenko arm, which is making contact with a soft environment. By utilizing the damping force in the soft environment, as well as the controller, we try to overcome the problem. We then prove the exponential stability of the closed-loop system. Finally, we provide simulation results, and consider the validity of our force controller.

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“…Now we can obtain the following equations of motion by applying Hamilton's principle and the Lagrange multiplier, and using the procedure described in [14]: for…”

Section: A Dynamics Of a Constrained Flexible Timoshenko Armmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment

Endo

Sasaki

Matsuno

et al. 2017

IEEE Trans. Automat. Contr.

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show abstract

“…In addition, in the work of Jiang et al, a novel infinite dimensional disturbance observer is proposed to estimate the spatially distributed disturbance, based on which, a boundary control scheme is designed to regulate the joint position and eliminate the elastic vibration simultaneously. In the work of Endo et al, to solve the force control problem, a simple boundary feedback controller, including the bending moment at the root of the flexible arm and its time derivative, is proposed for a constrained 1‐link flexible arm.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and vibration control for a nonlinear 3‐dimensional flexible manipulator

Liu

2018

Intl J Robust & Nonlinear

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Summary In this paper, the control design and stability analysis are presented for a 3‐dimensional flexible manipulator system with input disturbances. To provide an accurate and concise representation of the manipulator's dynamic behavior, the flexible manipulator is described by a distributed parameter system with a set of partial differential equations and ordinary differential equations. Boundary control laws with disturbance observers are proposed to regulate orientation and suppress elastic vibrations simultaneously. The closed‐loop stability is achieved through rigorous analysis without any simplification of the dynamics based on the Lyapunov direct method. Numerical simulations demonstrate the effectiveness of the proposed scheme.

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“…In order to improve model precision, Matsuno [11], Yang [12,13], Chalhoub [14], Diken [15], Shina [16], Ghaleh [17], Endoa [18] and Na [19] modeled the flexible structure as either a cantilevered beam or a clamped-free-free-free rectangular plate. They derived a partial differential equation and a set of boundary conditions that represent vibration of the flexible structure.…”

mentioning

confidence: 99%