H-INFINITY ROBUST-CONTROL OF FLEXIBLE MANIPULATOR VIBRATION BY USING A PIEZOELECTRIC-TYPE SERVO-DAMPER

Authors
JEE WH LEE CW
Citation
Wh. Jee et Cw. Lee, H-INFINITY ROBUST-CONTROL OF FLEXIBLE MANIPULATOR VIBRATION BY USING A PIEZOELECTRIC-TYPE SERVO-DAMPER, Control engineering practice, 2(3), 1994, pp. 421-430
Citations number
18
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
Control engineering practice → ACNP
ISSN journal
09670661
Volume
2
Issue
3
Year of publication
1994
Pages
421 - 430
Database
ISI
SICI code
0967-0661(1994)2:3<421:HROFMV>2.0.ZU;2-Z
Abstract
An H(infinity) controller design scheme based on the matrix fraction s tability condition is proposed for the vibration control of a flexible manipulator, which has the matrix fraction uncertainty. The proposed controller is then applied to the cantilever bearn with a piezoelectri c-type servo-damper so that the vibration at the free end of the beam is effectively suppressed, while its effective length slowly changes.