Title :
Comparison of linear and nonlinear H∞ control for a flexible-link manipulator
Author :
Yazdanpanah, M.J. ; Khorasani, K. ; Patel, R.V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
The goal is to robustly control the tip position of a single-link flexible arm. We compare linear and nonlinear H∞ control. The dynamic equations for the manipulator are derived following a Langrangian approach
Keywords :
asymptotic stability; closed loop systems; linear systems; manipulator dynamics; nonlinear control systems; position control; robust control; Langrangian approach; dynamic equations; linear H∞ control; nonlinear H∞ control; single-link flexible arm; tip position control; Control systems; Damping; Friction; Gravity; Lagrangian functions; Manipulator dynamics; Nonlinear equations; Polynomials; Symmetric matrices; Torque control;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.707330
