Control of single-link flexible beam using Hankel-norm-based reduced-order model

被引:8
作者
Krishnan, H
Vidyasagar, M
机构
[1] Natl Univ Singapore, Dept Mech & Prod Engn, Singapore 119260, Singapore
[2] Ctr Artificial Intelligence & Robot, Bangalore 560001, Karnataka, India
来源
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 1998年 / 145卷 / 02期
关键词
Hankel-norm minimisation; single-like flexible robot arm;
D O I
10.1049/ip-cta:19981949
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The single-link flexible beam is an infinite-dimensional system. Many researchers have proposed controlling such a beam using atl approximate model consisting of a finite a number of modes. But the number of modes that one should retain in the model for the purpose of controller design is not clear. The authors begin with a full-order model containing all the modes of the system within the bandwidth of the actuator and sensors. Control design based on such a model would result in a high-order controller that may not be feasible to implement in practice. Hence, a low-order model for the system is obtained using Hankel-norm minimisation. This procedure gives an excellent reduced-order model in the sense that the reduced model is close to the original system in the graph topology. A controller is designed for the flexible beam on the basis of the reduced-order model thus obtained. Experimental results show that a controller designed for the reduced-order model guarantees effective vibration control of the flexible beam.
引用
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页码:151 / 158
页数:8
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