Modelng and Controller Design for Teleoperation of Master-Slowe Flexible Arms

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I.Theoretical results1. PDS Feedback Control LawWe proposed PDS controller, being the proportional, derivative and strain feedback, on the basis of distributed parameter model of flexible arms and structures. We introduce a Lyapunov function related to the total energy of the distributed parameter system and derive a simple output feedback control law of PDS controller. Using the Lyapunov method and the invariance principle the asymptotic stability of the closed-loop distributed parameter system is proven, As the PDS controller is a static feedback controller using the joint angle(P), the angular velocity (D) and the strain (S) data, this controller admits simple implementation.2. Robust .Force ControlWe proposed robust force control law for constrained flexible arms and robust cooperative control law for multiple flexible arms on the basis of distributed parameter model.II.Experimental results1. PDS Feedback Control1. Flexible structures with lumped and distributed flexibility2. Flexible structures with closed-loop mechanism2. Robust Force Control1. Constrained flexible arms2. Cooperative two two-link flexible arms