TY - JOUR
T1 - Stabilizing a flexible beam handled by two manipulators via PD feedback
AU - Liu, Yunhiu
AU - Sun, Dong
PY - 2000/11
Y1 - 2000/11
N2 - This paper proposes a simple PD feedback controller to regulate a flexible beam handled by two manipulators to a desired position and orientation while suppressing its vibration in the absence of the gravity force. The proposed controller uses no information about the vibration, but uses joint positions and velocities of the manipulators. The asymptotic stability is proved based on the vibration dynamics of the beam approximated by m assumed modes, in which m can be any large number. A hybrid controller is also developed to control the position of the beam and its interaction forces with the manipulators.
AB - This paper proposes a simple PD feedback controller to regulate a flexible beam handled by two manipulators to a desired position and orientation while suppressing its vibration in the absence of the gravity force. The proposed controller uses no information about the vibration, but uses joint positions and velocities of the manipulators. The asymptotic stability is proved based on the vibration dynamics of the beam approximated by m assumed modes, in which m can be any large number. A hybrid controller is also developed to control the position of the beam and its interaction forces with the manipulators.
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0034318599&origin=recordpage
U2 - 10.1109/9.887656
DO - 10.1109/9.887656
M3 - RGC 21 - Publication in refereed journal
SN - 0018-9286
VL - 45
SP - 2159
EP - 2164
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 11
ER -