Some results on feedback stabilization of a one-link flexible arm

Creators: Icart, Sylvie; Leblond, Juliette; Samson, Claude

Others:: Mathematics and Computing in Automatic Control and Optimization for the User (MIAOU) ; Inria Sophia Antipolis - Méditerranée (CRISAM) ; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria); Geometry, Algorithms and Robotics (PRISME) ; Inria Sophia Antipolis - Méditerranée (CRISAM) ; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria); Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S) ; Université Nice Sophia Antipolis (1965 - 2019) (UNS) ; COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA); INRIA

Description

The aim of this report is to exhibit a class of stabilizing feedback laws for a structurally undamped one-link flexible arm with control applied at one extremity. A finite-dimensional model of the arm, corresponding to a discretization in space, is first considered. The arm is then modeled by a classical partial differential equation, no finite dimensional approximation being made in the control analysis. In both cases, stability of the closed-loop system is proven, using a Lyapunov method and applying Lasalle's principle. The pratical significance of the proposed results is commented upon and illustrated by simulation experiments.

Some results on feedback stabilization of a one-link flexible arm

Description

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