Non-collocated boundary control for contact-force control of a one-link flexible arm
This paper deals with contact-force control of a one-link flexible arm whose tip is constrained to a rigid environment. To realize the contact-force control, a boundary controller is proposed based on a dynamic model represented by an infinite dimensional model. In particular, the proposed controlle...
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| Veröffentlicht in: | Journal of the Franklin Institute 2020-05, Vol.357 (7), p.4109-4131 |
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| creator | Yamaguchi, Kaiyo Endo, Takahiro Kawai, Yuta Matsuno, Fumitoshi |
| description | This paper deals with contact-force control of a one-link flexible arm whose tip is constrained to a rigid environment. To realize the contact-force control, a boundary controller is proposed based on a dynamic model represented by an infinite dimensional model. In particular, the proposed controller does not need the physical parameters in its implementation, and this results in the non-collocated boundary controller. The closed-loop system is analyzed in an appropriate Hilbert space, and it is shown that the exponential stability of the closed-loop system is obtained by setting the feedback gains to locate the eigenvalues of the closed-loop system on the complex left half-plane. In addition, in an attempt to realize the better control performance, another controller which is a modified version of our controller is proposed. Finally, the stability, robustness to the uncertainty in physical parameters, and disturbance response of the closed-loop system are investigated by numerical simulations. |
| doi_str_mv | 10.1016/j.jfranklin.2020.01.018 |
| format | Article |
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| subjects | Automation & Control Systems Boundary control Closed loop systems Computer simulation Contact force Control stability Controllers Dynamic models Eigenvalues Engineering Engineering, Electrical & Electronic Engineering, Multidisciplinary Feedback control Feedback control systems Hilbert space Mathematics Mathematics, Interdisciplinary Applications Numerical analysis Parameter uncertainty Physical properties Physical Sciences Robustness (mathematics) Science & Technology Technology |
| title | Non-collocated boundary control for contact-force control of a one-link flexible arm |
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