Title :
Robust μ-synthesis control of a flexible manipulator arm
Author :
Abolmaasoumi, A.H. ; Momeni, H.R. ; Daryabor, A.
Author_Institution :
Electr. Eng. Dept., Tarbiat Modares Univ., Tehran
Abstract :
A mu-synthesis controller of a four mass manipulator arm system with structured uncertainty is presented. The system with uncertainties on parameters of plants such as damping ratios and stiffness of gears is modeled to a LFT form. The process of finding a stabilizing controller for nominal and perturbed system is based on mu-synthesis method. The resulting controller has been tested in standard manipulator arm simulation.
Keywords :
control system synthesis; damping; flexible manipulators; stability; uncertain systems; damping ratio; flexible manipulator arm; four mass manipulator arm system; linear fractional transformation; robust mu-synthesis control; stabilizing controller; stiffness; structured uncertainty; Control systems; Design methodology; Electrical equipment industry; Gears; Industrial control; Manipulator dynamics; Nonlinear dynamical systems; Robust control; Uncertainty; Weight control; μ-Synthesis; Flexible Manipulator Arm; LFT; Robust Control; Structured Uncertainty;
Conference_Titel :
System Theory, 2009. SSST 2009. 41st Southeastern Symposium on
Conference_Location :
Tullahoma, TN
Print_ISBN :
978-1-4244-3324-7
Electronic_ISBN :
0094-2898
DOI :
10.1109/SSST.2009.4806809
