DocumentCode
3247294
Title
Robust control of flexible manipulators
Author
Misra, Pradeep
Author_Institution
Dept. of Electr. Eng., Wright State Univ., Dayton, OH, USA
fYear
1989
fDate
0-0 1989
Firstpage
73
Lastpage
76
Abstract
A robust control scheme is presented for a single link flexible manipulator under parameter uncertainties. State feedback is determined from the knowledge of the range in which the open-loop system parameters lie. The state feedback so obtained provides a minimal desired damping under parameter uncertainties. To account for residual modes, a low-pass filter is used in the forward path. The filter parameters can be determined from the knowledge of open-loop and desired closed-loop characteristics.<>
Keywords
damping; parameter estimation; robots; stability; Robust control; closed-loop characteristics; flexible manipulators; forward path; low-pass filter; minimal desired damping; open-loop system parameters; parameter uncertainties; residual modes; state feedback; Parameter estimation; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Engineering, 1989., IEEE International Conference on
Conference_Location
Fairborn, OH, USA
Type
conf
DOI
10.1109/ICSYSE.1989.48623
Filename
48623
Link To Document