DocumentCode
1630033
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
Volume
3
fYear
2004
Firstpage
2337
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2004 Annual Conference
Conference_Location
Sapporo
Print_ISBN
4-907764-22-7
Type
conf
Filename
1491836
Link To Document