Affiliation:
1. University of Waterloo Waterloo, Ontario, Canada N2L 3G 1
2. Center for Artificial Intelligence and Robotics Bangalore, India
Abstract
It is demonstrated in the article that, for an appropriately chosen output variable, the transfer function for a sufficiently rigid single flexible link is passive. As such, by the passivity theorem, using any strictly passive controller with finite gain will result in an L2 -stable system. One approach to designing such a controller is outlined, and the experimental results are presented. The implications of this work are examined, and future research issues are discussed.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
53 articles.
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