Abstract
| Original language | English |
|---|---|
| Pages (from-to) | 85-104 |
| Number of pages | 20 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering |
| Volume | 213 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1999 |
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Modelling and H∞ control of a single-link flexible manipulator. / Sutton, R P; Halikias, G D; Plummer, Andrew R; Wilson, D A.
In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 213, No. 2, 1999, p. 85-104.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Modelling and H∞ control of a single-link flexible manipulator
AU - Sutton, R P
AU - Halikias, G D
AU - Plummer, Andrew R
AU - Wilson, D A
PY - 1999
Y1 - 1999
N2 - The aim of this study is to investigate motion in the horizontal and the vertical planes of a single-link flexible manipulator. The manipulator is modelled including gravity terms, and it is verified experimentally that the horizontal and the vertical motions are decoupled for a cylindrically symmetrical link and payload. The mathematical model is used to design a mixed-sensitivity H∞ contrlllerr. The sensitivity weighting function is used to obtain the required disturbance rejection properties, including zero sensitivity to a force disturbance in the steady state (i. e. integral action control). The control sensitivity weighting function is chosen to guarantee stability despite variation in the payload mass. The controller is compared experimentally with a proportional-plus-integral controller with velocity feedback and shown to give improved vibration control performance in the vertical plane.
AB - The aim of this study is to investigate motion in the horizontal and the vertical planes of a single-link flexible manipulator. The manipulator is modelled including gravity terms, and it is verified experimentally that the horizontal and the vertical motions are decoupled for a cylindrically symmetrical link and payload. The mathematical model is used to design a mixed-sensitivity H∞ contrlllerr. The sensitivity weighting function is used to obtain the required disturbance rejection properties, including zero sensitivity to a force disturbance in the steady state (i. e. integral action control). The control sensitivity weighting function is chosen to guarantee stability despite variation in the payload mass. The controller is compared experimentally with a proportional-plus-integral controller with velocity feedback and shown to give improved vibration control performance in the vertical plane.
UR - http://dx.doi.org/10.1243/0959651991540412
U2 - 10.1243/0959651991540412
DO - 10.1243/0959651991540412
M3 - Article
VL - 213
SP - 85
EP - 104
JO - Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
SN - 0959-6518
IS - 2
ER -