DocumentCode
1404008
Title
Robust control of a flexible robot arm using the quadratic d-stability approach
Author
Daafouz, Jamal ; Garcia, Germain ; Bernussou, Jacques
Author_Institution
Lab. d´´Anal. et d´´Archit. des Syst., CNRS, Toulouse, France
Volume
6
Issue
4
fYear
1998
fDate
7/1/1998 12:00:00 AM
Firstpage
524
Lastpage
533
Abstract
This paper shows how the quadratic d-stability design method provides a solution to a flexible robot arm control problem. The experimental process exhibits time delay, nonminimum phase behavior and lightly damped modes. The method is based on pole placement considerations and involves the resolution of two parameter dependent Riccati equations with an extra condition. Performances achieved numerically by the designed controller are tested on the physical system
Keywords
Riccati equations; control system synthesis; damping; discrete time systems; flexible structures; manipulator dynamics; pole assignment; robust control; uncertain systems; Riccati equations; damping; discrete time systems; flexible robot arm; flexible structures; pole placement; quadratic stability; robust control; robustness; uncertain systems; Control systems; Error correction; Flexible structures; Mathematical model; Riccati equations; Robot control; Robust control; Robust stability; State feedback; Uncertainty;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/87.701347
Filename
701347
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