Title :
Robust digital control of flexible structures using the combined pole placement/sensitivity function shaping method
Author :
Landau, I.D. ; Cyrot, Ch ; Voda, A. ; Rey, D.
Author_Institution :
Lab. d´´Autom. de Grenoble, CNRS, St. Martin d´´Heres, France
fDate :
29 June-1 July 1994
Abstract :
The paper presents a methodology for designing robust digital controllers for flexible mechanical structures. The method proposed combines pole placement with sensitivity function shaping in the frequency domain. It is illustrated by its application to the control of a very flexible robot arm and of a very flexible transmission system. Experimental results are given.
Keywords :
digital control; flexible structures; frequency-domain analysis; manipulators; pole assignment; robust control; sensitivity analysis; flexible robot arm; flexible structures; flexible transmission system; frequency domain; pole placement; robust digital control; sensitivity function shaping method; Closed loop systems; Control systems; Design methodology; Digital control; Flexible structures; Robust control; Robust stability; Shape control; State feedback; Uncertainty;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751743
