Name
Abstract | ||
|---|---|---|
This paper presents laboratory control experiments on a two-dof flexible link manipulator using optimal and robust methods. Considering the flexible mechanical structure as a system with slow and fast modes, the system dynamics is decomposed into a slow and a fast subsystem that can be controlled separately. Two experimental robust control approaches are considered. In a first test an LQR optimal design strategy is used, while a second design includes a sliding-mode structure for the slow subsystem. Experimental results are compared with conventional rigid control schemes and show that this composite approach achieves good closed-loop tracking properties for both design philosophies. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/CDC.2005.1582723 | 2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8 |
Keywords | DocType | ISSN |
robots,optimal design,optimal control,testing,actuators,control systems,sliding mode control,robust control,system dynamics | Conference | 0743-1546 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Arantza Sanz | 1 | 8 | 1.66 |
| Victor Etxebarria | 2 | 28 | 4.78 |