Robust stability and optimization of controlled oscillatory system

Author

Burdakov, Sergey F. ; Toupitsyn, Mikhail I.

Author_Institution

Dept. of Mech. & Control Processes, St. Petersburg State Tech. Univ., Russia

Volume

3

fYear

1997

fDate

27-29 Aug 1997

Firstpage

445

Abstract

Using the method of indirect compensation a new control algorithm for oscillating system was designed, under the conditions of system model uncertainty and incomplete measuring of state vector. The algorithm is based on the high amplification coefficient effect. Robust properties of the algorithm are explored with the example of a single-link robot with flexible joint in gravitational field in comparison with the usual PID-regulator

Keywords

asymptotic stability; closed loop systems; compensation; feedback; flexible structures; motion control; optimisation; robot dynamics; robust control; uncertain systems; amplification coefficient; asymptotic stability; closed loop systems; controlled oscillatory system; feedback; flexible joint; gravitational field; indirect compensation; model uncertainty; optimization; robust control; single-link robot; Control system synthesis; Control systems; Equations; Force control; Mathematical model; Regulators; Robot kinematics; Robust stability; Rotors; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control of Oscillations and Chaos, 1997. Proceedings., 1997 1st International Conference

Conference_Location

St. Petersburg

Print_ISBN

0-7803-4247-X

Type

conf

DOI

10.1109/COC.1997.626640

Filename

626640