• DocumentCode
    358622
  • Title

    Two degrees of freedom H∞ control of a flexible link

  • Author

    Farruggio, D. ; Menini, L.

  • Author_Institution
    Autom. Control Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
  • Volume
    4
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    2280
  • Abstract
    The work focuses on the design of a two degrees of freedom H∞ based controller for a flexible link carrying an unknown payload at the free end. A mathematical model of the link is obtained and used for the design of the control system. The proposed control laws have been actually applied to a real system
  • Keywords
    H∞ control; closed loop systems; compensation; control system synthesis; flexible manipulators; performance index; step response; 2 DOF H∞ based controller; flexible link; two degrees of freedom H∞ based controller; unknown payload; Arm; Automatic control; Control system synthesis; Control systems; DC motors; Damping; Mathematical model; Payloads; Robots; Shape control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2000. Proceedings of the 2000
  • Conference_Location
    Chicago, IL
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-5519-9
  • Type

    conf

  • DOI
    10.1109/ACC.2000.878586
  • Filename
    878586
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=358622