| BFEEDBACK CONTROL OF SINGLE-LINK FLEXIBLE ARMS |
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| 作者姓名： | 冯德兴 张维韬 |
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| 作者单位： | Institute of Systems Science，the Chinese Academy of Science，Beijing 100080，China |
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| 摘 要： | ＦＥＥＤＢＡＣＫＣＯＮＴＲＯＬＯＦＳＩＮＧＬＥ－ＬＩＮＫＦＬＥＸＩＢＬＥＡＲＭＳＦＥＮＧＤＥＸＩＮＧ（冯德兴）；ＺＨＡＮＧＷＥＩＴＡＯ（张维韬）（ＩｎｓｔｉｔｕｔｅｏｆＳｙｓｔｅｍｓＳｃｉｅｎｃｅ，ｔｈｅＣｈｉｎｅｓｅＡｃａｄｅｍｙｏｆＳｃｉｅｎｃｅ...
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| 收稿时间： | 12 February 1991 |
Feedback control of single-link flexible arms |
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| Dexing Feng,Weitao Zhang.BFEEDBACK CONTROL OF SINGLE-LINK FLEXIBLE ARMS[J].Acta Mathematicae Applicatae Sinica,1995,11(1):1-10. |
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| Authors: | Dexing Feng Weitao Zhang |
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| Institution: | (1) Institute of Systems Science, the Chinese Academy of Science, 100080 Beijing, China |
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| Abstract: | It is well known that it is rather difficult to control the tip position of a flexible arm by applying a suitable torque at the base of the link. In this paper, a linearized model of single-link flexible arm is considered. The spectral properties of the system are analyzed. With the rotational angle and angular velocity measurements available, a PID feedback control scheme for the control torque applied to the motor at the base of the link is presented. The asymptotic stability of the closed loop system is shown. Finally, the numerical simulation results are given. |
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| Keywords: | Flexible arm spectral properties feedback control asymptotic stability |
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