DocumentCode
335200
Title
Robust digital control of flexible structures using the combined pole placement/sensitivity function shaping method
Author
Landau, I.D. ; Cyrot, Ch ; Voda, A. ; Rey, D.
Author_Institution
Lab. d´´Autom. de Grenoble, CNRS, St. Martin d´´Heres, France
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
283
Abstract
The paper presents a methodology for designing robust digital controllers for flexible mechanical structures. The method proposed combines pole placement with sensitivity function shaping in the frequency domain. It is illustrated by its application to the control of a very flexible robot arm and of a very flexible transmission system. Experimental results are given.
Keywords
digital control; flexible structures; frequency-domain analysis; manipulators; pole assignment; robust control; sensitivity analysis; flexible robot arm; flexible structures; flexible transmission system; frequency domain; pole placement; robust digital control; sensitivity function shaping method; Closed loop systems; Control systems; Design methodology; Digital control; Flexible structures; Robust control; Robust stability; Shape control; State feedback; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751743
Filename
751743
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