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A Benchmark Problem for Robust Feedback Control of a Flexible Manipulator

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3 Author(s)
Stig Moberg ; ABB AB-Robot., Vasteras, Sweden ; Jonas Ohr ; Svante Gunnarsson

A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results.

Published in:

IEEE Transactions on Control Systems Technology  (Volume:17 ,  Issue: 6 )