A Benchmark Problem for Robust Control of a Multivariable Nonlinear Flexible Manipulator
2008 (English)In: Proceedings of the 17th IFAC World Congress, 2008, 1206-1211 p.Conference paper (Refereed)
A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain disturbances affecting both the motors and the tool. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only disturbance rejection. The proposed model is validated by experiments on a real industrial manipulator.
Place, publisher, year, edition, pages
2008. 1206-1211 p.
Robust control, Control, Benchmark examples, Manipulators, Disturbance rejection, Flexible arms, Robotics
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-43053DOI: 10.3182/20080706-5-KR-1001.00208Local ID: 71168ISBN: 978-3-902661-00-5OAI: oai:DiVA.org:liu-43053DiVA: diva2:263910
17th IFAC World Congress, Seoul, South Korea, July, 2008