Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam

  • Alexander Zuyev
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 396)


Dynamical models of flexible-link robot manipulators are generally described by a set of coupled ordinary and partial differential equations, which gives rise to series of mathematical control problems in infinite dimensional spaces [1, 2, 3, 7]. However, finite dimensional approximate models obtained by the assumed modes and finite elements methods are used more frequently for solving the motion planning and stabilization problems [6]. It should be emphasized that the majority of publications in this area is concentrated on planar manipulator models with a free end. To study spatial manipulators with a tip mass, the mathematical model that describes the motion of a multi-link manipulator under the action of gravity and controls (torques and forces) was proposed in [8].


Rigid Body Mild Solution Robot Manipulator Feedback Stabilization Flexible Beam 
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Copyright information

© Springer London 2009

Authors and Affiliations

  • Alexander Zuyev
    • 1
  1. 1.Alexander Zuyev Institute of Applied Mathematics and MechanicsNational Academy of Sciences of UkraineDonetskUkraine

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