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H-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Report (Other academic)
Abstract [en]

Control of a flexible joint of an industrial manipulator using H design methods is presented. The considered design methods are i) mixed-H design, and ii) H loop shaping design. Two different controller configurations are examined: one uses only the actuator position, while the other uses the actuator position and the acceleration of end-effector. The four resulting controllers are compared to a standard PID controller where only the actuator position is measured. The choices of the weighting functions are discussed in details. For the loop shaping design method, the acceleration measurement is required to improve the performance compared to the PID controller. For the mixed-H method it is enough to have only the actuator position to get an improved performance. Model order reduction of the controllers is briefly discussed, which is important for implementation of the controllers in the robot control system.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2013. , 7 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3067
Keyword [en]
Robotics, Flexible, H-infinity control, Accelerometers
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-100898ISRN: LiTH-ISY-R-3067OAI: oai:DiVA.org:liu-100898DiVA: diva2:664215
Projects
Vinnova Excellence Center LINK-SIC
Funder
Vinnova
Available from: 2013-11-14 Created: 2013-11-14 Last updated: 2014-06-16Bibliographically approved

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Axelsson, PatrikHelmersson, AndersNorrlöf, Mikael

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CiteExportLink to record
Permanent link

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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