Passivity-Based Control of Rotational and Translational Timoshenko Arms | Zendy

Minoru Sasaki | Zendy; Takeshi Ueda | Zendy; Yshihiro Inoue | Zendy; Wayne J. Book | Zendy

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Passivity-Based Control of Rotational and Translational Timoshenko Arms

Author(s) -

Minoru Sasaki,

Takeshi Ueda,

Yshihiro Inoue,

Wayne J. Book

Publication year - 2011

Publication title -

advances in acoustics and vibration

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.237

H-Index - 14

eISSN - 1687-627X

pISSN - 1687-6261

DOI - 10.1155/2012/174816

Subject(s) - passivity , control theory (sociology) , exploit , differential (mechanical device) , control (management) , tracking (education) , controller (irrigation) , timoshenko beam theory , computer science , engineering , structural engineering , finite element method , artificial intelligence , agronomy , computer security , aerospace engineering , electrical engineering , biology , psychology , pedagogy

It is shown that the alternate passivity-based control schemes can be designed which explicitly exploit the passivity properties of the Timoshenko model. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical results for the tracking control of a translational and rotational flexible Timoshenko arm are presented and compared. They verify that the proposed control schemes are effective at controlling flexible dynamical systems

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