The aim of this paper is, first, to derive the motion equations of a flexible beam subject to inequality constraints, by looking for the stationary value of the action integral. The method of the Valentine variables is used to take into account the inequality constraints, in the computation of the stationary value of the action integral. Secondly, a PD feedback control law from the hinge position and velocity is studied; the closed-loop system shows valuable global asymptotic stability properties. The effectiveness of the proposed control structure is tested experimentally.
Menini, L., Tornambe, A., Zaccarian, L. (1997). On the control of a flexible beam colliding against an infinitely rigid and massive obstacle. In Decision and Control, 1997., Proceedings of the 36th IEEE Conference on (pp.257-262). Piscataway, NJ, United States : IEEE [10.1109/CDC.1997.650625].
On the control of a flexible beam colliding against an infinitely rigid and massive obstacle
Menini, L.;Tornambe, A.;Zaccarian, L.
1997-01-01
Abstract
The aim of this paper is, first, to derive the motion equations of a flexible beam subject to inequality constraints, by looking for the stationary value of the action integral. The method of the Valentine variables is used to take into account the inequality constraints, in the computation of the stationary value of the action integral. Secondly, a PD feedback control law from the hinge position and velocity is studied; the closed-loop system shows valuable global asymptotic stability properties. The effectiveness of the proposed control structure is tested experimentally.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
