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Further theoretical results on direct strain feedback control of flexible robot arms

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2 Author(s)
Zheng-Hua Luo ; Dept. of Mech. Eng., Nagaoka Univ. of Technol., Niigata, Japan ; Baozhu Guo

This paper is concerned with stability analyses for some nonstandard second-order partial differential equations arising from direct strain feedback control of flexible robot arms. Exponential stability issues are addressed for three types of differential equations, one of which is in general abstract evolution equation form and the other two are in partial differential equation form. The obtained results are of especially theoretical interest because they reveal the essence of direct strain feedback control and demonstrate its power in control of flexible arms

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Automatic Control, IEEE Transactions on  (Volume:40 ,  Issue: 4 )