Id. Landau et al., ROBUST-CONTROL OF A 360-DEGREES FLEXIBLE ARM USING THE COMBINED POLE PLACEMENT SENSITIVITY FUNCTION SHAPING METHOD/, IEEE transactions on control systems technology, 4(4), 1996, pp. 369-383
Citations number
18
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
In this paper, the control of a 360 degrees flexible arm is investigat
ed both from a theoretical and practical point of view. Based on ident
ified discrete time models of the arm, a robust linear digital control
ler is designed using the combined pole placement/sensitivity function
s shaping method, The particularities of the flexible arm and of the s
ensor used for the measure of the tip position are taken in account fo
r the design and implementation of the control system, Extensive exper
imental results are given.