Title :
Energy-based robust controller design for multi-link flexible robots
Author :
Ge, S.S. ; Lee, T.H. ; Zhu, G.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
A class of robust stable controllers are presented to control the tip position of a multilink flexible robot. The controllers are derived by using a basic relationship of system energy and are independent of the system dynamics. The approach allows controller design in the absence of system model and provides great freedom in feedback design
Keywords :
control system synthesis; feedback; flexible structures; manipulators; robust control; energy-based robust controller design; feedback design; multilink flexible robot; robust stable controllers; system energy relationship; Actuators; Control systems; Feedback; Manipulators; PD control; Robot control; Robust control; Robust stability; Robustness; Sensor systems;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577389
