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
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;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878586
