Linear robust control of very flexible one-link manipulator arm

Victor V. Korolov

doi:10.1117/12.57946

30 April 1992 Linear robust control of very flexible one-link manipulator arm

Victor V. Korolov

Proceedings Volume 1611, Sensor Fusion IV: Control Paradigms and Data Structures; (1992) https://doi.org/10.1117/12.57946
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

In this sequel to work previously completed by Korolov and Chen, we design the end-point position control of a one-link flexible robot arm subjected to a wise spectrum of operational conditions. The linear control scheme designed here treats the possible variations of natural frequencies as uncertainties and is robust if the uncertainties stay inside specified bounds. The results of the simulation of this scheme are compared with simulations of the non-linear controller for the same arm.

Citation Download Citation

Victor V. Korolov "Linear robust control of very flexible one-link manipulator arm", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); https://doi.org/10.1117/12.57946

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