Asymptotic Boundary Stabilization of a Nonlinear Robot Arm

Document Type : Original Article


1 Sharif University of Technology

2 Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran, P.O. Box, 19395-1999


This paper aims to develop a boundary control solution for a single-link nonlinear manipulator. By the Hamilton principle, governing equations of motions consisting of a set of Partial Differential Equations (PDEs) and Ordinary Differential Equations (ODEs) have been derived. By considering nonlinear Lyapunov functional, and without any simplifications, proper control feedbacks is adopted in order to reach control objectives in the presence of the endpoint boundary disturbances. By choosing proper boundary feedback, system states are proven to be asymptotically stable. In order to illustrate the performance of the proposed control approach, Based on the Finite-Difference method, numerical simulation results are provided.