PDS cooperative control of two one-link flexible arms

Abstract

In this paper, cooperative control of two flexible arms is discussed. Dynamics of the cooperative flexible arms are described as distributed parameter system subject to geometric constraint. The control purpose is to accomplish the desired grasping force for a common rigid object and the vibration absorption of the flexible arms. An output PDS feedback control synthesis is developed for cooperative two one-link flexible arms. The synthesis is carried out in the infinite-dimensional setting, mathematical features of which give rise to a stabilizing control algorithm. Due to simplicity of the implementation, the algorithm becomes extremely attractive under limitations on the computer power in the space. The effectiveness of the control strategy proposed is supported by experimental tests.