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A Benchmark Problem for Robust Control of a Multivariable Nonlinear Flexible Manipulator
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB AB, Crane Systems, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)Report (Other academic)
Abstract [en]

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
Linköping: Linköping University Electronic Press, 2008. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2848
Keyword [en]
Robust control, Control, Benchmark examples, Manipulators, Disturbance rejection, Flexible arms, Robotics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56163ISRN: LiTH-ISY-R-2848OAI: oai:DiVA.org:liu-56163DiVA: diva2:316934
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-02Bibliographically approved

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Moberg, StigGunnarsson, Svante

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf