Title :
Robust control of a flexible robot arm using the quadratic d-stability approach
Author :
Daafouz, Jamal ; Garcia, Germain ; Bernussou, Jacques
Author_Institution :
Lab. d´´Anal. et d´´Archit. des Syst., CNRS, Toulouse, France
fDate :
7/1/1998 12:00:00 AM
Abstract :
This paper shows how the quadratic d-stability design method provides a solution to a flexible robot arm control problem. The experimental process exhibits time delay, nonminimum phase behavior and lightly damped modes. The method is based on pole placement considerations and involves the resolution of two parameter dependent Riccati equations with an extra condition. Performances achieved numerically by the designed controller are tested on the physical system
Keywords :
Riccati equations; control system synthesis; damping; discrete time systems; flexible structures; manipulator dynamics; pole assignment; robust control; uncertain systems; Riccati equations; damping; discrete time systems; flexible robot arm; flexible structures; pole placement; quadratic stability; robust control; robustness; uncertain systems; Control systems; Error correction; Flexible structures; Mathematical model; Riccati equations; Robot control; Robust control; Robust stability; State feedback; Uncertainty;
Journal_Title :
Control Systems Technology, IEEE Transactions on
