Modeling and robust control of single-link robot arms
by
M. Karkoub, G.J. Balas, K. Tamma, and M. Donath
in
IFAC Control Engineering Practice Journal, vol. 8, no. 7, June, pp. 725-734, 2000.
Category: Journal Article
Keywords: Robust control; μ-Synthesis; Flexible manipulators
Click here to request an electronic copy of this paper.
Abstract:
An experimental flexible arm serves as testbed to investigate the efficacy of the μ-synthesis design technique in the control of flexible manipulators. A linearized model of the testbed is derived for control design. Discrepancies and errors between the linearized model and the physical system are accounted for in the control design via uncertainty models. These uncertainties include: unmodeled high-frequency dynamics, errors in natural frequencies and damping levels and actuator and sensor errors. Colocated and noncolocated controllers are designed using μ-synthesis. It is observed, theoretically and experimentally, that the μ-synthesis design technique is a viable control tool for tip tracking with flexible manipulators.
This entry has been accessed 337 times.