A Benchmark Problem for Robust Feedback Control of a Flexible Manipulator
2009 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 17, no 6, 1398-1405 p.Article in journal (Refereed) Published
A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results.
Place, publisher, year, edition, pages
2009. Vol. 17, no 6, 1398-1405 p.
Flexible structures, Manipulators, Position control, Robots, Robustness
IdentifiersURN: urn:nbn:se:liu:diva-51596DOI: 10.1109/TCST.2008.2006755OAI: oai:DiVA.org:liu-51596DiVA: diva2:275950