Locally Asymptotic Stability of PDS Control for Two-Link Flexible Arm

Abstract

We discuss the design of controller and stability for two-link flexible arm based on distributed parameter model. Using Lyapunov method, we derive a PDS controller that the system becomes Lyapunov stable and that the system in neighborhood of a desired configuration becomes asymptotically stable. As the controller is derived based on the distributed parameter system, we can avoid the drawbacks resulting from finite dimensional approximation.