PID Controller Design for a Flexible-Link Manipulator

This paper investigates the application of the H∞proportional-integral-derivative (PID) control synthesis method to tip position control of a flexible-link manipulator. To achieve high performance of PID control, this particular control design problem is cast into the H∞framework. Based on the recently proposed H∞PID control synthesis method, a set of admissible controllers is then obtained to be robust against uncertainty introduced by neglecting the higher-order modes of the link and to achieve the desired time-response specifications. The most important feature of the H∞PID control synthesis method is the ability to provide the knowledge of the entire admissible PID controller gain space which can facilitate controller fine tuning. Finally, experimental results are given to demonstrate the effectiveness of H∞PID control.