Robust control of a 360° flexible arm using the combined pole placement/sensitivity function shaping method

Author

Landau, Ioan Doré ; Langer, Jochen ; Rey, Daniel ; Barnier, Jean

Author_Institution

Lab. d´´Autom., CNRS, Grenoble, France

Volume

4

Issue

4

fYear

1996

fDate

7/1/1996 12:00:00 AM

Firstpage

369

Lastpage

383

Abstract

The control of a 360° flexible arm is investigated both from a theoretical and practical point of view. Based on identified discrete time models of the arm, a robust linear digital controller is designed using the combined pole placement/sensitivity functions shaping method. The particularities of the flexible arm and of the sensor used for the measure of the tip position are taken in account for the design and implementation of the control system. Extensive experimental results are given

Keywords

control system synthesis; digital control; discrete time systems; flexible structures; identification; linear systems; manipulators; pole assignment; position control; position measurement; robust control; 360° flexible arm; combined pole placement/sensitivity function shaping method; discrete time models; robust control; robust linear digital controller; tip position; Arm; Automatic control; Control systems; Digital control; Open loop systems; Position measurement; Real time systems; Robust control; Shape control; State feedback;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.508885

Filename

508885