Open AccessExponential stability of dual flexible arms for grasping and orientation control
Author(s) -
Endo Takahiro,
Umemoto Kazuki,
Matsuno Fumitoshi
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2019.0359
Subject(s) - control theory (sociology) , ode , exponential stability , robustness (evolution) , mathematics , partial differential equation , euler's formula , ordinary differential equation , distributed parameter system , differential equation , computer science , mathematical analysis , control (management) , artificial intelligence , physics , nonlinear system , quantum mechanics , biochemistry , chemistry , gene
The stability of two one‐link flexible arms for grasping and orientation control of an object is studied. Flexible arms are modelled by Euler–Bernoulli beam model and the overall system is represented by a hybrid partial differential equation (PDE)–ordinary differential equation (ODE) model. The authors' primary concern is the stability analysis of this hybrid PDE–ODE model. In particular, they use the frequency domain method and prove the exponential stability of this system under their previously proposed boundary controller. In addition, they discuss the robustness of the closed‐loop system with respect to the several disturbances including disturbances distributed over the arms and disturbances acting at boundaries. Finally, simulation results are presented to investigate the theoretical results.