COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES

DOI10.1080/01969720302853zbMath1039.93046MaRDI QIDQ4483972

Victor Etxebarria, Ian Lizarraga

Publication date: 2003

Published in: Cybernetics and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/01969720302853

zbMATH Keywords

tracking; flexible link manipulators; sensor readings; PD-\(H_\infty\) design

Mathematics Subject Classification ID

93B51: Design techniques (robust design, computer-aided design, etc.)

93B36: (H^infty)-control

93C85: Automated systems (robots, etc.) in control theory

Related Items

\(H_\infty\) control for singularly perturbed jumping delayed systems and its application in a tunnel diode circuit model, \(H_\infty\) control design for fuzzy discrete-time singularly perturbed systems via slow state variables feedback: an LMI-based approach, SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN, Experimental control of a single-link flexible robot arm using energy shaping

Uses Software

• Mu Analysis and Synthesis Toolbox

Cites Work

• Flexible‐link robot arm control by a feedback linearization/singular perturbation approach
• An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments