제어로봇시스템학회:학술대회논문집
- 2005.06a
- /
- Pages.2260-2265
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- 2005
Boundary Control of a Tensioned Elastic Axially Moving String
- Kim, Chang-Won (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
-
Hong, Keum-Shik
(School of Mechanical Engineering, Pusan National University)
;
- Park, Hahn (Department of Mechanical and Intelligent Systems Engineering, Pusan National University)
- Published : 2005.06.02
Abstract
In this paper, an active vibration control of a tensioned elastic axially moving string is investigated. The dynamics of the translating string are described by a non-linear partial differential equation coupled with an ordinary differential equation. A time varying control in the form of right boundary transverse motions is proposed in stabilizing the transverse vibrations of the translating continuum. A control law based on Lyapunov's second method is derived. Exponential stability of the closed-loop system is verified. The effectiveness of the proposed controller is shown through simulations.
Keywords
- Axially moving string;
- boundary control;
- exponential stability;
- hyperbolic partial differential equation;
- Lyapunov method;
- nonlinear string