Title :
Linear control of a flexible arm system: Comparison of H∞ and loop transfer recover methods-application to an experimental arm
Author :
Jodouin, Patrick ; Saad, Maarouf ; Wamkeue, R.
Author_Institution :
Sch. of Eng., UQAT, Rouyn-Noranda, QC, Canada
Abstract :
In this paper, a one link flexible manipulator is modeled and controlled. Linear model is first presented. Two different controllers are designed and applied to the developed model: the first one is based on Linear Quadratic Gaussian/Loop Transfer Recover (LQG/LTR) method; the second one is based on the H-infinity method. The two controllers are applied in real time on a physical system and the experimental results are compared.
Keywords :
H∞ control; control system synthesis; flexible manipulators; linear quadratic Gaussian control; H∞ control; H-infinity method; LQG/LTR method; experimental arm; flexible arm system; linear control; linear model; linear quadratic Gaussian; link flexible manipulator; loop transfer recover method; Conferences; H infinity control; Manipulators; Mathematical model; Riccati equations; Steady-state; Time factors; Flexible link; H-infinity; Loop transfer recover;
Conference_Titel :
Mediterranean Electrotechnical Conference (MELECON), 2014 17th IEEE
Conference_Location :
Beirut
DOI :
10.1109/MELCON.2014.6820552
