Title :
Vibration control of a flexible robotic arm-experiments and relationship between sensitivity analysis and H∞ control method
Author :
Arakawa, Atsushi ; Fukuda, Toshio
Author_Institution :
Dept. of Mech. Eng., Sci. Univ. of Tokyo, Japan
Abstract :
Experimental results on the control of a flexible robotic arm and the relationship between the sensitivity analysis and H∞ control law are discussed. A three-degree-of-freedom flexible arm is used in the experiment. It is shown that vibrations of a flexible arm can be suppressed by using the LQ (linear quadratic) optimal control law. By sensitivity analysis, the admissible domain of parameter uncertainties where the closed-loop system does not become unstable is shown. Inversely, by using a robust control method, a controller can be constructed where the closed-loop system does not become unstable if there are some parameter uncertainties. Therefore, there seems to be some relationship between the sensitivity analysis and the robust control law
Keywords :
closed loop systems; optimal control; robots; sensitivity analysis; stability; vibration control; 3 DOF arm; H∞ control method; LQ optimal control; closed-loop system; flexible robotic arm; linear quadratic control; parameter uncertainties; robust control method; sensitivity analysis; Arm; Mechanical engineering; Optimal control; Orbital robotics; Robot sensing systems; Robust control; Sensitivity analysis; Uncertain systems; Uncertainty; Vibration control;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149150
