Noncollocated passivity-based PD control of a single-link flexible manipulator

Volume: 21, Issue: 2, Pages: 117 - 135
Published: Mar 1, 2003
Abstract
The passivity property of a noncollocated single-link flexible manipulator with a parameterized output is studied. The system can be characterized by either the irrational transfer function of an infinite-dimensional model or its truncated rational transfer functions. Necessary and sufficient conditions for these transfer functions to be passive are found. It is also shown that a non-passive, marginal minimum-phase, truncated transfer function...
Paper Details
Title
Noncollocated passivity-based PD control of a single-link flexible manipulator
Published Date
Mar 1, 2003
Journal
Volume
21
Issue
2
Pages
117 - 135
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