文章基本信息

标题：Stability and stabilization of a flexible manipulator
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作者：Aicha Elhsoumi ; Rafika El Harabi ; Saloua Bel Hadj Ali 等
期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2012
卷号：9
期号：4
出版社：IJCSI Press
摘要：In this paper, the stability and stabilization of a neutral system with time-delay are treated. First, the flexible manipulator is modeled as a neutral time-delay system form. Then, based on the Lyapunov-Krasovskii functional theory, a delay dependant condition is proposed to test studied system stability, which is applied to a flexible manipulator model. The test shows that this flexible manipulator is instable and it should be stabilized. For this reason, other theorem is elaborated to determinate a feedback control based on linear matrix inequalities (LMI). Finally, simulation results are presented to prove theorical development.
关键词：Flexible Manipulator; Stability; Stabilization; LMI; Lyapunov;Krasovskii.