Robust control of a flexible robot arm using the quadratic d-stability approach

被引：17

作者：

Daafouz, J ^{[1
]}

Garcia, G

Bernussou, J

机构：

[1] CNRS, Lab Anal & Architecture Syst, F-31077 Toulouse 4, France

[2] Inst Natl Sci Appl, F-31077 Toulouse, France

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1998年 / 6卷 / 04期

关键词：

arms control; flexible structures; parametric uncertainty; pole assignment; quadratic stability; robustness;

D O I：

10.1109/87.701347

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper shows how quadratic d-stability design method provides a solution to a flexible robot arm control problem. The experimental process exhibits time delay, nonminimun phase behavior and lightly damped modes. The method is based on pole placement considerations and involves the resolution of two parameter dependent Riccati equations with an extra condition. Performances achieved numerically by the designed controller are tested on the physical system.

引用

页码：524 / 533

页数：10

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