Technical Brief

Exponential Stabilization of a Class of Monodimensional Distributed Parameter Systems by Boundary Controller

[+] Author and Article Information
Mircea Ivanescu

Department of Mechatronics,
University of Craiova,
13, Cuza Street,
Craiova 200585, Romania
e-mail: ivanescu@robotics.ucv.ro

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 18, 2015; final manuscript received February 19, 2016; published online March 30, 2016. Assoc. Editor: Dejan Milutinovic.

J. Dyn. Sys., Meas., Control 138(6), 064501 (Mar 30, 2016) (3 pages) Paper No: DS-15-1226; doi: 10.1115/1.4032876 History: Received May 18, 2015; Revised February 19, 2016

This paper treats the control problem of a class of monodimensional (1D) hyperbolic differential models with nonlinear components by using the boundary controller, the state measuring, and the control action on the boundary of the system. This controller is easy to implement from point of view of measuring techniques and actuation. The proposed algorithm provides the exponential convergence to the desired reference trajectory and rejects the effect of the nonlinear components by using the constraints in state space. A maximum principle of this class of system is inferred in order to evaluate the effect of boundary control. A constructive Lyapunov-based proof of convergence of the control algorithm is carried out. Numerical simulations of a technical model are presented.

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Grahic Jump Location
Fig. 1

A hyper-redundant robot arm

Grahic Jump Location
Fig. 2

Trajectory of q(t,s)  for qd(l)=3π/4



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