DocumentCode
3209048
Title
Energy-based robust controller design for multi-link flexible robots
Author
Ge, S.S. ; Lee, T.H. ; Zhu, G.
Author_Institution
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Volume
4
fYear
1996
fDate
11-13 Dec 1996
Firstpage
4090
Abstract
A class of robust stable controllers are presented to control the tip position of a multilink flexible robot. The controllers are derived by using a basic relationship of system energy and are independent of the system dynamics. The approach allows controller design in the absence of system model and provides great freedom in feedback design
Keywords
control system synthesis; feedback; flexible structures; manipulators; robust control; energy-based robust controller design; feedback design; multilink flexible robot; robust stable controllers; system energy relationship; Actuators; Control systems; Feedback; Manipulators; PD control; Robot control; Robust control; Robust stability; Robustness; Sensor systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.577389
Filename
577389
Link To Document