ROBUST-CONTROL OF A 360-DEGREES FLEXIBLE ARM USING THE COMBINED POLE PLACEMENT SENSITIVITY FUNCTION SHAPING METHOD/

Authors
LANDAU ID LANGER J REY D BARNIER J
Citation
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
Journal title
IEEE transactions on control systems technology → ACNP
ISSN journal
10636536
Volume
4
Issue
4
Year of publication
1996
Pages
369 - 383
Database
ISI
SICI code
1063-6536(1996)4:4<369:ROA3FA>2.0.ZU;2-E
Abstract
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.