Modelling and H∞ control of a single-link flexible manipulator

R P Sutton; G D Halikias; Andrew R Plummer; D A Wilson

doi:10.1243/0959651991540412

Modelling and H∞ control of a single-link flexible manipulator

R P Sutton, G D Halikias, Andrew R Plummer, D A Wilson

Department of Mechanical Engineering

Research output: Contribution to journal › Article

23 Citations (Scopus)

Abstract

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.

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	https://doi.org/10.1243/0959651991540412
Publication status	Published - 1999

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http://dx.doi.org/10.1243/0959651991540412

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AU - Plummer, Andrew R

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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.

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