Robust control of flexible manipulators via mu-synthesis

An experimental flexible arm serves as testbed to investigate the efficacy of the mu-synthesis design technique in the control of flexible manipulator s. A linearized model of the tested is derived for control design. Discrepa ncies and errors between the linearized model and the physical system are a ccounted for in the control design via uncertainty models. These uncertaint ies include: unmodeled high-frequency dynamics, errors in natural frequenci es and damping levels and actuator and sensor errors. Colocated and noncolo cated controllers are designed using mu-synthesis. It is observed, theoreti cally and experimentally, that the mu-synthesis design technique is a viabl e control tool for tip tracking with flexible manipulators. (C) 2000 Elsevi er Science Ltd. All rights reserved.