2リンク柔軟アームの局所漸近安定化制御器設計

抄録

In this paper, we discuss a simple controller for two link flexible arms based on a distributed parameter model. At first, using Lyapunov method, we derive a PDS feedback controller that the closed-loop system becomes Lyapunov stable. In neighorhood of a desired configuration of the arm, we prove that the PDS controller can ensure the asymptotic stability of the closed-loop system. As the controller presented in this paper is derived based on the original distributed parameter system, we can avoid the drawbacks resulting from finite dimensional approximation.