Passive control of a single flexible link
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1432-1437 vol.2
- https://doi.org/10.1109/robot.1990.126206
Abstract
It is demonstrated that, for an appropriately chosen output variable, the transfer function for some single flexible links can be considered to be passive. Therefore, by the passivity theorem, using any strictly passive controller with finite gain will result in an L/sub 2/-stable system. One approach to designing such a controller is outlined, and experimental results are presented. The implications of this work are examined and future research issues are discussed.<>Keywords
This publication has 5 references indexed in Scilit:
- Control of a flexible robot arm with bounded input: Optimum step responsesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Transfer functions for a single flexible linkPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Bounded input feedback control of linear systems with application to the control of a flexible systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- On undershoot and nonminimum phase zerosIEEE Transactions on Automatic Control, 1986
- Initial Experiments on the End-Point Control of a Flexible One-Link RobotThe International Journal of Robotics Research, 1984