CAUSAL INVERSE DYNAMICS OF A FLEXIBLE HUB-ARM SYSTEM THROUGH LIAPUNOV2ND METHOD

The main objective of this work is to study the performance of a flexi ble single hub-arm system. The equations of motion are derived using t he extended Hamilton principle. The Liapunov functional is used as a c ondition for the stability analysis. The Liapunov functional is consid ered as the sum of the internal energy of the flexible beam. The requi red drive torque was obtained directly through the solution of the inv erse dynamic problem. Although the flexible link is nonminimum phase i n nature, the use of Liapunov and the PD controller guarantee the caus ality for the stable case. The effects of tip mass as well as its iner tia in the case of stable and asymptotic stable systems were investiga ted to ensure the validity of this procedure.