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Stability analysis of a hybrid system arising from feedback control of flexible robots

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Abstract

This paper presents stability analysis for a hybrid system consisting of a coupled partial differential equation and an ordinary differential equation arising from shear force feedback control of flexible robots. Conditions on the uniformly exponential decay of solutions of the entire system have not been obtained by using the conventional method such as the Liapunov function method. These conditions are made clear in this paper by reformulating the problem and by doing spectral analysis. It is shown that if the feedback gains are properly chosen then the entire hybrid system is uniformly exponentially stable, which is very useful in practical applications.

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Authors and Affiliations

  1. Department of Applied Mathematics, Beijing Institute of Technology, 100081, Beijing, China

    Bao-Zhu Guo

  2. Department of Mechanical Engineering, Nagaoka University of Technology, 940-21, Nagaoka, Niigata, Japan

    Zheng-Hua Luo

Authors
  1. Bao-Zhu Guo
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  2. Zheng-Hua Luo
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Additional information

The first author was supported in part by the National Science Foundation of China.

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Guo, BZ., Luo, ZH. Stability analysis of a hybrid system arising from feedback control of flexible robots. Japan J. Indust. Appl. Math. 13, 417–434 (1996). https://doi.org/10.1007/BF03167256

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  • DOI: https://doi.org/10.1007/BF03167256

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