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Linear-Quadratic Optimal Boundary Control of a One-Link Flexible Arm | IEEE Journals & Magazine | IEEE Xplore

Linear-Quadratic Optimal Boundary Control of a One-Link Flexible Arm


Abstract:

A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, n...Show More

Abstract:

A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using semigroup theory and duality arguments. Simulation results are provided to support the theoretical findings, comparing the proposed optimal LQ law with a more conventional PD/state feedback controller in terms of cost and transient performance.
Published in: IEEE Control Systems Letters ( Volume: 5, Issue: 3, July 2021)
Page(s): 833 - 838
Date of Publication: 02 July 2020
Electronic ISSN: 2475-1456

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