This is a boundary control problem of a hybrid ODE-PDE system. The system consists of an actuator, a flexible link fixed to the actuator, and a tip mass at the free end of the link. In most literature, two control inputs are used for the simultaneous position and vibration control of the said system: One is the actuator's torque and the other is a force at the tip mass. The application of a control force at the tip mass of a manipulator does not seem to be a practical solution. Can we use only the actuator's torque to simultaneously control the position and vibration of the beam and the tip mass?
I would be grateful to anyone for sharing any theorem or paper addressing this issue (in support or against).
Thank you!
To address these statements, you need the functional obtained via modeling:
"The application of a control force at the tip mass of a manipulator does not seem to be a practical solution. Can we use only the actuator's torque to simultaneously control the position and vibration of the beam and the tip mass?"
A control system is not a cake. It needs a model, which will translate into an optimization problem.
I would investigate the model with torque and force. The designer must have equations to describe your model. The genesis of the ODE-PDE can help you to investigate the reason behind these assumptions.
To address these statements, you need the functional obtained via modeling:
"The application of a control force at the tip mass of a manipulator does not seem to be a practical solution. Can we use only the actuator's torque to simultaneously control the position and vibration of the beam and the tip mass?"
A control system is not a cake. It needs a model, which will translate into an optimization problem.
I would investigate the model with torque and force. The designer must have equations to describe your model. The genesis of the ODE-PDE can help you to investigate the reason behind these assumptions.
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