Robust control design for stiffness measurement of flexible joint

Author

Wang, Guang-Lin ; Li, Yun-Feng ; Wu, Yun-Li

Author_Institution

Dept. of Mech. Eng. & Autom., Harbin Inst. of Technol., China

Volume

2

fYear

2005

fDate

18-21 Aug. 2005

Firstpage

1160

Abstract

Flexible joint, one kind of force-sensing element, is a key part of flexible gyro. Its stiffness is very small such that it is easily disturbed by noises in working environment. During the development of the instrument of its stiffness measuring, instability is the main factor affecting the measuring precision. This paper firstly presents a model for stiffness measuring system subjected to disturbance. Based on the model, robust H_∞ control design for stiffness measurement of flexible joint is proposed by using a complete parametric approach of eigenstructure assignment to stabilize the stiffness measuring system and guarantee the specified H_∞-norm upper-bound constraint. Finally, the results of simulation show the effect of the proposed approach.

Keywords

H/sup /spl infin// control; control system synthesis; eigenstructure assignment; elasticity; force measurement; force sensors; robust control; eigenstructure assignment approach; flexible gyro; flexible joint; force-sensing element; robust H/sub /spl infin// control design; stiffness measurement; stiffness measuring system; Automation; Control design; Control theory; Force sensors; Instruments; Mechanical engineering; Neck; Riccati equations; Robust control; Working environment noise; Stiffness measurement; eigenstructure assignment; information fusion; resource management; robust H∞ control;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on

Conference_Location

Guangzhou, China

Print_ISBN

0-7803-9091-1

Type

conf

DOI

10.1109/ICMLC.2005.1527118

Filename

1527118