• DocumentCode
    2510297
  • Title

    H∞ control of a flexible arm: coprime factors design using the gap metric

  • Author

    Duc, Gilles ; Ballois, Sandrile Le

  • Author_Institution
    Supelec-Service Automatique, Gif-sur-Yvette, France
  • fYear
    1994
  • fDate
    24-26 Aug 1994
  • Firstpage
    1317
  • Abstract
    A H∞ controller is designed for a one-degree-of-freedom flexible arm, whose load at the extremity can take 3 different values. The loop-shaping design procedure of McFarlane-Glover (1992) is used together with the gap metric of Vinnicombe (1993), the later allowing to a priori insure the robust stability and to select the design parameters
  • Keywords
    H∞ control; algebra; closed loop systems; control system synthesis; manipulators; robust control; H∞ control; coprime factors; design parameters; flexible arm; gap metric; loop-shaping design; manipulator; robust stability; Algebra; H-infinity control; Manipulators; Robustness;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 1994., Proceedings of the Third IEEE Conference on
  • Conference_Location
    Glasgow
  • Print_ISBN
    0-7803-1872-2
  • Type

    conf

  • DOI
    10.1109/CCA.1994.381305
  • Filename
    381305
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2510297