TY - GEN
T1 - Motion planning and tracking for tip displacement and deflection angle for flexible beams
AU - Siranosian, Antranik A.
AU - Krstic, Miroslav
AU - Smyshlyaev, Andrey
AU - Bement, Matt
PY - 2008
Y1 - 2008
N2 - We present results for motion planning and tracking for flexible beams with Kelvin-Voigt damping, when the goal is to track sinusoidal reference signals for the displacement and deflection angle at the free-end of the beam using only actuation at the base. We present the solution to the motion planning problem for the string model, and a method of leveraging the string solution with PDE backstepping theory to solve the motion planning problem for the shear beam. We then present state-feedback boundary controllers that stabilize their respective systems around the motion planning solution.
AB - We present results for motion planning and tracking for flexible beams with Kelvin-Voigt damping, when the goal is to track sinusoidal reference signals for the displacement and deflection angle at the free-end of the beam using only actuation at the base. We present the solution to the motion planning problem for the string model, and a method of leveraging the string solution with PDE backstepping theory to solve the motion planning problem for the shear beam. We then present state-feedback boundary controllers that stabilize their respective systems around the motion planning solution.
UR - https://www.scopus.com/pages/publications/52449097489
U2 - 10.1109/ACC.2008.4587122
DO - 10.1109/ACC.2008.4587122
M3 - Conference contribution
AN - SCOPUS:52449097489
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 4023
EP - 4028
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -