DocumentCode
3068243
Title
Robust control of a lightweight flexible manipulator under the influence of gravity
Author
Sutton, R.P. ; Halikias, G.D. ; Plummer, A.R. ; Wilson, D.A.
Author_Institution
Dept. of Mech. Eng., Leeds Univ., UK
fYear
1997
fDate
5-7 Oct 1997
Firstpage
300
Lastpage
305
Abstract
A robust controller for controlling the motion of a compliant lightweight, single link arm working under the influence of gravity is presented. A mixed sensitivity H∞ controller is designed where the sensitivity weighting function is manipulated to include an additional integrator in the system to deal with the effect of the gravity disturbance acting on the arm. Simulation results demonstrate the performance of the controller over a range of payload weights
Keywords
H∞ control; control system synthesis; manipulators; motion control; robust control; vibration control; gravity disturbance; integrator; lightweight flexible manipulator; mixed sensitivity H∞ controller; robust control; sensitivity weighting function; single link arm; Gravity; Lagrangian functions; Lighting control; Manipulators; Motion control; Open loop systems; Payloads; Programmable control; Robotic assembly; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location
Hartford, CT
Print_ISBN
0-7803-3876-6
Type
conf
DOI
10.1109/CCA.1997.627559
Filename
627559
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