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Additional resources for Advances in Dynamics, Instrumentation and Control: Proceedings of the 2006 International Conference (Cdic '06), Queretaro, Mexico, 13 - 16 August 2006
10. H. Sira-Ramirez, M. Zribi and S. Ahmad, Dynamical sliding mode control approach for vertical flight regulation in helicopters IEE Proc. , 142,No. 1 (1995). 11. H. Sira-Ramirez, and S. K. , 2004). TIMOSHENKO BEAM THEORY BASED MATHEMATICAL MODELLING OF A LIGHTWEIGHT FLEXIBLE LINK ROBOT MANIPULATOR MALIK LOUDINI Institut National d'lnformatique,BP 68M I62 70 Oued Smar, El-Harrach, Algiers, Algeria DJAMEL BOUKHETALA, MOHAMED TADJTNE Laboratoire de Commande des Processus, Ecole Nationale Polytechnique, 10, avenue Hassan Badi, BP 182 16200 El-Harrach, Algiers, Algeria This paper deals with the mathematical modelling of a planar one-link lightweight flexible robot manipulator clamped at its actuated base and carrying a payload at its free endpoint.
J denote the i-th row and the j-th column of the matrix E , respectively. 1. Let us consider the following system X = Ax + bu (4) where u = -kcTx is a feedback control, x , b E Rn and the controllable pair ( A ,b) is given in canonical form (see Ref. 2) 0 0 1 0 0 1 ... 0 ... 0 A= b= 0 0 -a, -an-l 0 -an-2 (5) ... 1 . . --a] + + + Suppose that the open-loop polynomial p o ( t ) = tn a1tn-' ... a, is a Hurwitz polynomial. Let E be the corresponding matrix defined b y (5'). ,n, I (6) then the control u = -kcTx is a high-gain feedback.
J. Morris, M. van Nieuwstandt, and Pascale Bendotti, Identification and control of a model helicopter in hover, in Proc. of the A S E E Annual Conference, (Baltimore, Maryland, 1994). 9. Van Nieuwstand and Richard M. Murray, Outer flatness: trayectory generation for a model helicopter, in Proc. European Control Conference (1997). 10. H. Sira-Ramirez, M. Zribi and S. Ahmad, Dynamical sliding mode control approach for vertical flight regulation in helicopters IEE Proc. , 142,No. 1 (1995). 11. H. Sira-Ramirez, and S.