Title :
Robust stabilization of a flexible arm
Author :
Kimura, Hidenori ; Akai, Kenji ; Oike, Taro
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Suita, Japan
Abstract :
A method of robust stabilization with a prescribed degree of stability is proposed for a class of systems with additive unstructured uncertainty. The method enables an effective tradeoff to be made between the expected control performance and the estimated model uncertainty. The method is successfully applied to the control of a flexible arm. The synthesis based on this method is free from the spillover effect and exhibits a fast response with good suppression of elastic vibration, as well as substantial robustness
Keywords :
control system synthesis; distributed parameter systems; large-scale systems; robots; stability; additive unstructured uncertainty; control systems synthesis; elastic vibration suppression; estimated model uncertainty; expected control performance; flexible arm; robust stabilization; spillover effect; Control system synthesis; Control systems; Machinery; Mechanical engineering; Robust control; Robust stability; Robustness; Transfer functions; Uncertainty; Vibrations;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70480
