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Rapport (Rapport De Recherche) Année : 1992

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

Résumé

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.

Domaines

Autre [cs.OH]
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Dates et versions

inria-00076905 , version 1 (29-05-2006)

Identifiants

  • HAL Id : inria-00076905 , version 1

Citer

Sylvie Icart, Juliette Leblond, Claude Samson. Some results on feedback stabilization of a one-link flexible arm. [Research Report] RR-1682, INRIA. 1992. ⟨inria-00076905⟩
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