Title :
A robust controller design approach and experiments for a slewing flexible structure
Author_Institution :
Dept. of Electr. Eng., Toronto Univ., Ont.
Abstract :
A second-order transfer function, which is parameterized by a 3D vector, is introduced to represent the dynamics corresponding to flexural effects. Therefore, high-dimensional, unstructured, uncertain dynamics is represented in a relatively low-order structured form. Based on this parameterization, a controller is designed. The advocated approach is applied to a slewing structure and is experimentally verified
Keywords :
control system synthesis; distributed parameter systems; large-scale systems; stability; 3D vector; robust controller design; slewing flexible structure; Control systems; Finite element methods; Flexible structures; Frequency domain analysis; Laboratories; Manipulator dynamics; Robot control; Robust control; Transfer functions; Uncertainty;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169806
