Robust control of a lightweight flexible manipulator under the influence of gravity

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

A robust controller for controlling the motion of a compliant lightweight, single link arm working under the influence of gravity is presented. A mixed sensitivity H∞ controller is designed where the sensitivity weighting function is manipulated to include an additional integrator in the system to deal with the effect of the gravity disturbance acting on the arm. Simulation results demonstrate the performance of the controller over a range of payload weights
Original languageEnglish
Title of host publicationControl Applications, 1997., Proceedings of the 1997 IEEE International Conference on
PublisherIEEE
Pages300-305
Number of pages6
DOIs
Publication statusPublished - 1997
EventIEEE International Conference on Control Applications, 1997 - Hartford, USA United States
Duration: 5 Oct 19977 Oct 1997

Conference

ConferenceIEEE International Conference on Control Applications, 1997
CountryUSA United States
CityHartford
Period5/10/977/10/97

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    Sutton, R. P., Halikias, G. D., Plummer, A. R., & Wilson, D. A. (1997). Robust control of a lightweight flexible manipulator under the influence of gravity. In Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on (pp. 300-305). IEEE. https://doi.org/10.1109/CCA.1997.627559