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

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

doi:10.1109/CCA.1997.627559

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

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

Department of Mechanical Engineering

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

7 Citations (SciVal)

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 language	English
Title of host publication	Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Publisher	IEEE
Pages	300-305
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.1997.627559
Publication status	Published - 1997
Event	IEEE International Conference on Control Applications, 1997 - Hartford, USA United States Duration: 5 Oct 1997 → 7 Oct 1997

Conference

Conference	IEEE International Conference on Control Applications, 1997
Country/Territory	USA United States
City	Hartford
Period	5/10/97 → 7/10/97

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10.1109/CCA.1997.627559

Cite this

Robust control of a lightweight flexible manipulator under the influence of gravity. / Sutton, R. P.; Halikias, G. D.; Plummer, A. R. et al.
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on. IEEE, 1997. p. 300-305.

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

Sutton, RP, Halikias, GD, Plummer, AR & Wilson, DA 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. IEEE, pp. 300-305, IEEE International Conference on Control Applications, 1997, Hartford, USA United States, 5/10/97. https://doi.org/10.1109/CCA.1997.627559

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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",

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AU - Halikias, G. D.

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AU - Wilson, D. A.

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Y1 - 1997

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AB - 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

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M3 - Chapter in a published conference proceeding

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BT - Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

PB - IEEE

T2 - IEEE International Conference on Control Applications, 1997

Y2 - 5 October 1997 through 7 October 1997

ER -

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

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