Title :
Robust control of flexible manipulators
Author_Institution :
Dept. of Electr. Eng., Wright State Univ., Dayton, OH, USA
Abstract :
A robust control scheme is presented for a single link flexible manipulator under parameter uncertainties. State feedback is determined from the knowledge of the range in which the open-loop system parameters lie. The state feedback so obtained provides a minimal desired damping under parameter uncertainties. To account for residual modes, a low-pass filter is used in the forward path. The filter parameters can be determined from the knowledge of open-loop and desired closed-loop characteristics.<>
Keywords :
damping; parameter estimation; robots; stability; Robust control; closed-loop characteristics; flexible manipulators; forward path; low-pass filter; minimal desired damping; open-loop system parameters; parameter uncertainties; residual modes; state feedback; Parameter estimation; Robots; Stability;
Conference_Titel :
Systems Engineering, 1989., IEEE International Conference on
Conference_Location :
Fairborn, OH, USA
DOI :
10.1109/ICSYSE.1989.48623
