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

DOI10.1080/01969720302853zbMath1039.93046OpenAlexW1973219388MaRDI 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

trackingflexible link manipulatorssensor readingsPD-\(H_\infty\) design

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85)

Related Items (4)

\(H_\infty\) 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

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