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
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;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
