Dynamics based control of two-link flexible arm

摘要

We discuss a design of controller for a two-link flexible arm based on a 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 model, we can avoid the drawbacks resulting from finite dimensional approximation.