DocumentCode
489945
Title
Non-Linear Control with End-Point Acceleration Feedback for a Two-Link Flexible Manipulator: Experimental Results
Author
Khorrami, Farshad ; Jain, Sandeep
Author_Institution
Control/Robotics Research Laboratory (CRRL), School of Electrical Engineering & Computer Science, Polytechnic University, 333 Jay Street, Six Metrotech Center, Brooklyn, NY 11201
fYear
1992
fDate
24-26 June 1992
Firstpage
2969
Lastpage
2970
Abstract
In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla´s parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.
Keywords
Acceleration; Accelerometers; Control systems; Hydraulic actuators; Linear feedback control systems; Output feedback; PD control; Payloads; Robust control; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792691
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