Displaying similar documents to “On harmonic disturbance rejection of an undamped Euler-Bernoulli beam with rigid tip body”

Saturating stiffness control of robot manipulators with bounded inputs

María del Carmen Rodríguez-Liñán, Marco Mendoza, Isela Bonilla, César A. Chávez-Olivares (2017)

International Journal of Applied Mathematics and Computer Science

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A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

Global asymptotic stabilisation of an active mass damper for a flexible beam

Laura Menini, Antonio Tornambè, Luca Zaccarian (1999)

Kybernetika

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In this paper, a finite dimensional approximated model of a mechanical system constituted by a vertical heavy flexible beam with lumped masses placed along the beam and a mobile mass located at the tip, is proposed; such a model is parametric in the approximation order, so that a prescribed accuracy in the representation of the actual system can be easily obtained with the proposed model. The system itself can be understood as a simple representation of a building subject to transverse...