Title :
Robust control of a lightweight flexible manipulator under the influence of gravity
Author :
Sutton, R.P. ; Halikias, G.D. ; Plummer, A.R. ; Wilson, D.A.
Author_Institution :
Dept. of Mech. Eng., Leeds Univ., UK
Abstract :
A robust controller for controlling the motion of a compliant lightweight, single link arm working under the influence of gravity is presented. A mixed sensitivity H∞ controller is designed where the sensitivity weighting function is manipulated to include an additional integrator in the system to deal with the effect of the gravity disturbance acting on the arm. Simulation results demonstrate the performance of the controller over a range of payload weights
Keywords :
H∞ control; control system synthesis; manipulators; motion control; robust control; vibration control; gravity disturbance; integrator; lightweight flexible manipulator; mixed sensitivity H∞ controller; robust control; sensitivity weighting function; single link arm; Gravity; Lagrangian functions; Lighting control; Manipulators; Motion control; Open loop systems; Payloads; Programmable control; Robotic assembly; Robust control;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627559
