A boundary control for motion synchronization of a two-manipulator system with a flexible beam
作者： Haibin Dou , Shaoping Wang
DOI: 10.1016/J.AUTOMATICA.2014.10.057
关键词:
摘要: A novel synchronization motion control method is proposed in this paper for the system which two manipulators are constrained by a flexible beam. Different from general method, coupling dynamics among various actuators considered as shear force, results errors. Then simple boundary introduced to realize of suppressing force. In order avoid drawbacks assumed modes model, dynamic model beam described distributed parameter paper. Riesz basis used prove that law can guarantee be exponential stability. Simulation demonstrate effectively improve performance compared with other methods.
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