Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 62, Issue 2, Pages 1004-1009Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2569432
Keywords
Distributed parameter systems; exponentially stable; flexible arm; Timoshenko beam
Funding
- JSPS KAKENHI [23700143]
- Grants-in-Aid for Scientific Research [23700143, 26730104] Funding Source: KAKEN
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This technical note discusses a contact-force control problem for a flexible arm. This flexible arm includes a Timoshenko beam, and thus we call it the flexible Timoshenko arm. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple boundary controller and show the exponential stability of the closed-loop system by the frequency domain method. Finally, we describe simulation results carried out to investigate the validity of the proposed controller for the force control problem.
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