Boundary Control for Flexible Manipulator with LaSalle Analysis

  • Jinkun Liu
  • Wei He


In Chap. 5, a boundary controller for flexible manipulator with exponential convergence is designed. However, in the controller design, \( z_{xxx} \left( L \right) \) and \( \dot{z}_{xxx} \left( L \right) \) are needed.


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    W.H. Ray, Advanced Process Control (McGraw-Hill, New York, 1981)Google Scholar
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    C.D. Rahn, Mechatronic Control of Distributed Noise and Vibration-A Lyapunov Approach (Springer, Berlin Heidelberg, 2001)CrossRefGoogle Scholar

Copyright information

© Tsinghua University Press, Beijing and Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  1. 1.School of Automation Science and Electrical EngineeringBeihang UniversityBeijingChina
  2. 2.University of Science and Technology BeijingBeijingChina

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