DocumentCode
488405
Title
End-Point Controller Design for an Experimental Two-Link Flexible Manipulator using Convex Optimization
Author
Oakley, Celia M. ; Barratt, Craig H.
Author_Institution
NSF Fellow, Department of Mechanical Engineering, Stanford University Aerospace Robotics Laboratory, Stanford, California 94305
fYear
1990
fDate
23-25 May 1990
Firstpage
1752
Lastpage
1760
Abstract
Recent results in linear controller design are used to design an end-point controller for an experimental two-link flexible manipulator. A nominal 14 state LQG controller was augmented with a 528 tap FIR filter designed using convex optimization techniques. The resulting 278 state controller produced improved end-point trajectory tracking and disturbance rejection in both simulation and experimentally in real-time.
Keywords
Actuators; Control systems; Design optimization; Force control; Laboratories; Manipulators; Nonlinear control systems; Optimal control; Transfer functions; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4791033
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