Modeling, Analysis and Control of Dynamic Elastic Multi-Link Structures 论文

摘要

V.1 Some eigenmodes of the unit square V.2 Eigenvalues of unit square V.3 Splitting of eigenvalues V.4 Eigenvalues of a triangle V.5 Splitting of the spectrum V.6 A typical frame V.7 Distribution of eigenvalues V.8 Uncontrolled motion of a string V.9 Contour plot V.1O Conservation of energy V.U Absorbing boundary control V.12 Energy plot of disappearing solution V.13 Case (a) V.14 Case (b) V.15 Transfer of energy through multiple joints V.16 Directing controls V.17 Energy of entire system V.18 Effect of time delay V.19 Instability due to time delay V.20 Bang-bang control V.21 Improved dissipation V.22 Robustness of bang-bang control V.23 Nonlinear dissipation with time delay V.24 Energy in individual strings V.25 Energy in 5th string and entire system V.26 Directing controls V.27 Directing controls V.28 A comparison of controls V.29 Unit square: uncontrolled motion