Robust control of two-link flexible manipulators using the m-synthesis technique
by
M. Karkoub, K. Tamma and G. Balas
in
ASME Journal of Vibration and Control, , 1999.
Category: Journal Article
Keywords: ROBUST CONTROL; MANIPULATORS; FLEXIBLE BODIES; ROBOT CONTROL; CONTROL SYSTEMS DESIGN; DYNAMIC MODELS; PARAMETER UNCERTAINTY
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Abstract:
This article addresses the issue of modeling and end-point robust control of two-link flexible manipulators using the mu-synthesis technique. The Timoshenko beam theory along with the assumed modes method are used to derive reference equations of motion for the flexible manipulator. Discrepancies between the control design model and the actual dynamics of the manipulator are attributed to neglected nonlinearities such as cross-coupling, which should be included in the controller design. A linear estimation of these errors will be identified and used in the control design to compensate for the unmodeled dynamics of the flexible arm and parameter uncertainties. The mu-synthesis control design techniques are then employed to synthesize controllers for the two-link flexible robot manipulator
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