Infinite dimensional model of a double flexible-link manipulator: the port-Hamiltonian approach

DOI10.1016/J.APM.2020.02.008MaRDI QIDQ2182932zbMATH OpenOpenAlexFDO

Authors Andrea Mattioni, Yann Le Gorrec, Yong-xin Wu

Publication date 26 May 2020

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2020.02.008

zbMATH Keywords

discretizationdistributed parameter systemsport-Hamiltonian systemsboundary control systemsfinite dimensional approximationflexible armsflexible robotics

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Mathematical modeling or simulation for problems pertaining to systems and control theory (93-10)

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Cites work

• scientific article; zbMATH DE number 1300075 (Why is no real title available?)
• scientific article; zbMATH DE number 1117970 (Why is no real title available?)
• Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators
• Dynamic analysis of flexible-link and flexible-joint robots
• Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass
• Hamiltonian discretization of boundary control systems
• Hamiltonian formulation of distributed-parameter systems with boundary energy flow
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Linear port-Hamiltonian systems on infinite-dimensional spaces.
• Modeling and Control of Complex Physical Systems
• Modeling and Control of Elastic Joint Robots
• Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach
• On the Hamiltonian formulation of nonholonomic mechanical systems
• On the Synthesis of Boundary Control Laws for Distributed Port-Hamiltonian Systems
• On the control of two-link flexible robot arm with nonuniform cross-section
• Orientation and stabilization of a flexible beam attached to a rigid body: planar motion
• Stability and stabilization of infinite dimensional systems with applications
• Stabilization of infinite dimensional port-Hamiltonian systems by nonlinear dynamic boundary control

Cited in

(5)

• Dynamic modeling and fuzzy compensation sliding mode control for flexible manipulator servo system
• Modeling and consensus of flexible wings with bending deformation and torsion deformation based on partial differential equation model
• Port-Hamiltonian flexible multibody dynamics
• Kinematic Compensation in Port-Hamiltonian Telemanipulation
• Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator

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