先端負荷をもった2リンク柔軟アームのPDS制御

抄録

In this paper, we derive the PDS feedback control law for a two-link flexible arm based on a distributed parameter model. The PDS controller consists of the PD feedback and a strain feedback (S). As the PDS control law is a static direct sensor output feedback, it is simple, robust and easy to implement. On the basis of the distributed parameter model, we prove the asymptotic stability of the closed-loop system for the PDS feedback control law by using the Lyapunov method and the Invariance Principle. Experimental results are shown.