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, and Vedagarbda , “ Boundary control of the Timoshenko beam with free - end mass / inertia dynamics
- Publisher
- Wiley
- Copyright
- Copyright © 2008 Wiley Subscription Services
- ISSN
- 1561-8625
- eISSN
- 1934-6093
- DOI
- 10.1002/asjc.45
- Publisher site
- See Article on Publisher Site
Abstract
This note addresses observer design for a flexible robot arm with a tip load. The robot arm is modeled as an Euler–Bernoulli beam. The beam is clamped to a motor at one end and attached to a force actuator at the other. Based on boundary measurements, an exponentially stable observer is proposed. The existence, uniqueness, and stability of solutions of the observer are proven using semigroup theory. The results are illustrated by simulation. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
Journal
Asian Journal of Control – Wiley
Published: Jan 1, 2008
Keywords: ; ; ;