Exponential stability of dual flexible arms for grasping and orientation control | Zendy

Endo Takahiro | Zendy; Umemoto Kazuki | Zendy; Matsuno Fumitoshi | Zendy

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Exponential 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) , exponential stability , dual (grammatical number) , orientation (vector space) , stability (learning theory) , control (management) , exponential function , computer science , control engineering , mathematics , engineering , artificial intelligence , physics , geometry , mathematical analysis , nonlinear system , quantum mechanics , art , literature , machine learning

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.

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