Robust pole placement control of flexible manipulator arm via LMIs

Author

Daryabor, Abdolkarim ; Abolmasoumi, Amir H. ; Momeni, Hamidreza

Author_Institution

Electr. Eng. Dept., Tarbiat Modares Univ., Tehran

fYear

2009

fDate

15-17 March 2009

Firstpage

274

Lastpage

279

Abstract

This paper addresses the problem of robust pole placement control of flexible manipulator arm via a dynamic output feedback control. The controller is designed based on the dynamic output feedback controller. The design technique is described using linear matrix inequalities. The effectiveness of the proposed technique in control of manipulator arm is illustrated by simulation results. The comparison of this method with other methods used to control the robot manipulator arm shows the effectiveness of our approach.

Keywords

control system synthesis; feedback; flexible manipulators; linear matrix inequalities; LMI; controller design; dynamic output feedback; dynamic output feedback control; flexible manipulator arm; linear matrix inequalities; robot manipulator arm; robust pole placement control; Control systems; Elasticity; Electrical equipment industry; Gears; Linear matrix inequalities; Manipulator dynamics; Output feedback; Robust control; Service robots; State feedback; Dynamic output feedback; Flexible manipulator arm; LMI; Pole placement; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 2009. SSST 2009. 41st Southeastern Symposium on

Conference_Location

Tullahoma, TN

ISSN

0094-2898

Print_ISBN

978-1-4244-3324-7

Electronic_ISBN

0094-2898

Type

conf

DOI

10.1109/SSST.2009.4806808

Filename

4806808