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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This research is supported by the National Natural Science Foundation of China.
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Feng, D., Zhang, W. Feedback control of single-link flexible arms. Acta Mathematicae Applicatae Sinica 11, 1–10 (1995). https://doi.org/10.1007/BF02012617
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DOI: https://doi.org/10.1007/BF02012617