Title :
Risk-sensitive control of a single-link flexible arm
Author :
Sawada, Y. ; Koga, D.
Author_Institution :
Dept. of Mech. & Syst. Eng., Kyoto Inst. of Technol., Japan
Abstract :
In this paper, a risk-sensitive control of a single-link flexible arm subject to random disturbance is considered. Assuming that effect of nonlinear terms in the dynamics of the flexible arm, a set of linearized model is obtained for applying the LEQG control theory which is one of the risk-sensitive controls. Finally, simulation studies are presented to demonstrate the effect of variations of the risk-sensitive parameter.
Keywords :
flexible manipulators; optimal control; stochastic systems; linear-exponential-quadratic-Gaussian control theory; linearized model; optimal control; random disturbance; risk-sensitive control; risk-sensitive parameter; single-link flexible arm; stochastic system;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
