A Benchmark Problem for Robust Control of a Multivariable Nonlinear Flexible Manipulator
2008 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2848
Robust control, Control, Benchmark examples, Manipulators, Disturbance rejection, Flexible arms, Robotics
IdentifiersURN: urn:nbn:se:liu:diva-56163ISRN: LiTH-ISY-R-2848OAI: oai:DiVA.org:liu-56163DiVA: diva2:316934