A Benchmark Problem for Robust Feedback Control of a Flexible ManipulatorA benchmark problem for robust feedback control of a flexible manipulator [Elektronisk resurs] / Stig Moberg, Jonas Öhr, Svante Gunnarsson.
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Moberg, Stig, 1962- (författare)
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Öhr, Jonas, 1966- (författare)
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Gunnarsson, Svante, 1959- (författare)
- Publicerad: Linköping : Linköping University Electronic Press, 2007
- Engelska 12 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 2820
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- A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results.
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