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AN LQG/H-INFINITY, CONTROLLER FOR A FLEXIBLE MANIPULATOR

DSpace at IIT Bombay

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Title AN LQG/H-INFINITY, CONTROLLER FOR A FLEXIBLE MANIPULATOR
 
Creator BANAVAR, RN
DOMINIC, P
 
Description An LQG/H-infinity controller synthesis is presented for a flexible one-link manipulator with noncolocated sensing, The challenge of the problem lies in the nonminimum phase characteristics and the ill-conditioned nature of the plant, The innerloop LQG controller provides adequate damping to the flexible modes and numerically conditions the system while the outerloop H-infinity controller provides stability in the face of unstructured perturbations. With only tip position sensing and using a fourth-order model, a controller is synthesized, It is tested with an eighth-order model of the plant and is found to satisfy both performance and stability requirements.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2011-07-31T19:55:32Z
2011-12-26T12:53:07Z
2011-12-27T05:40:17Z
2011-07-31T19:55:32Z
2011-12-26T12:53:07Z
2011-12-27T05:40:17Z
1995
 
Type Article
 
Identifier IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 3(4), 409-416
1063-6536
http://dx.doi.org/10.1109/87.481965
http://dspace.library.iitb.ac.in/xmlui/handle/10054/8220
http://hdl.handle.net/10054/8220
 
Language en