Passive Feedback Control with Feedforward Compensation for Flexible Structures

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The inherent passivity property of mechanical systems has long been recognized and exploited for stabilization, and applications of this property appear in several contexts including robot and spacecraft stabilization. The underlying assumption is that every degree of freedom for such systems is directly actuated. However, when this assumption is violated, the passivity property is less useful. Earlier work has demonstrated that under a mild stabilizability and detectability condition, the inherent passivity in a class of under-actuated systems remains very useful in the stabilization of such systems. This project's intent is to further develop this approach. Particular attention will be paid to specific applications to common classes of flexible structures, including flexibly jointed robots, flexible links, serially connected flexible bodies, and rigid bodies with flexible appendages. The theoretical results will be validated on an existing laboratory experimental facility.*** //