Title :
End-Point Controller Design for an Experimental Two-Link Flexible Manipulator using Convex Optimization
Author :
Oakley, Celia M. ; Barratt, Craig H.
Author_Institution :
NSF Fellow, Department of Mechanical Engineering, Stanford University Aerospace Robotics Laboratory, Stanford, California 94305
Abstract :
Recent results in linear controller design are used to design an end-point controller for an experimental two-link flexible manipulator. A nominal 14 state LQG controller was augmented with a 528 tap FIR filter designed using convex optimization techniques. The resulting 278 state controller produced improved end-point trajectory tracking and disturbance rejection in both simulation and experimentally in real-time.
Keywords :
Actuators; Control systems; Design optimization; Force control; Laboratories; Manipulators; Nonlinear control systems; Optimal control; Transfer functions; Vectors;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
