Robust Control of Flexible Manipulators

Authors

• Pradeep Misra, Wright State University - Main CampusFollow

Document Type

Conference Proceeding

Publication Date

1989

Find this in a Library

Catalog Record

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.

Repository Citation

Misra, P. (1989). Robust Control of Flexible Manipulators. IEEE 1989 International Conference on Systems Engineering, 73-76.
https://corescholar.libraries.wright.edu/ee/289

DOI

10.1109/icsyse.1989.48623