Dominant Pole Placement Control of a Flexible Arm
Yuan Jin
Feng Haikun
Abstract：Control of a flexible arm is an active research topic with many available results.A popular approach is to apply modal analysis to a flexible arm and suppress its first few vibration modes.This research presents a simple method to control a flexible arm by focusing on the dominant poles.The controller is able to deal with as many modes as the feedback sensor system allows.It can be incorporated with an adaptive law to deal with uncertainties hidden in the mode frequencies and damping ratios.Stability of the closed loop system is established in the Lyapunov sense.
Keywords：adaptive controlflexible arm controlstability analysis
Publication Date：1999-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 329-333 )