Title :
Colocated and noncolocated control design via μ-synthesis for flexible manipulators
Author :
Karkoub, Mansour ; Balas, Gary J. ; Tamma, K.
Author_Institution :
Minnesota Univ., Minneapolis, MN, USA
Abstract :
Sensor and actuator locations play an important role in the control of flexible manipulators. Colocated and noncolocated controllers are designed using μ-synthesis technique for an experimental flexible arm testbed at the University of Minnesota. A nonlinear, dynamic model of the flexible arm is linearized to generate the control design model. Discrepancies between a linear model and the original dynamical model are modeled as uncertainties and included in the μ-framework. It is observed, theoretically and experimentally, that the addition of tip sensing dramatically improves the tip tracking performance and robustness. The robustness of the noncolocated controllers to variations in the control design model is verified theoretically and experimentally
Keywords :
control system synthesis; flexible structures; linearisation techniques; manipulators; nonlinear control systems; nonlinear dynamical systems; optimal control; stability; uncertain systems; μ-synthesis; actuator location; colocated control design; controller design; experimental flexible arm testbed; flexible manipulators; noncolocated control design; nonlinear dynamic model; robustness; sensor location; tip sensing; tip tracking performance; Actuators; Control design; Control system synthesis; Error correction; Feeds; Manipulator dynamics; Mechanical systems; Noise robustness; Testing; Torque;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532218
