By Topic

An LQG/H controller for a flexible manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
R. N. Banavar ; Dept. of Syst. & Control Eng., Indian Inst. of Technol., Bombay, India ; P. Dominic

An LQG/H controller synthesis is presented for a flexible one-link manipulator with noncolocated sensing. The challenge of the problem lies in the nonminimum phase characteristics and the ill-conditioned nature of the plant. The inner-loop LQG controller provides adequate damping to the flexible modes and numerically conditions the system while the outer-loop H controller provides stability in the face of unstructured perturbation. With only tip position sensing and using a fourth-order model, a controller is synthesized. It is tested with an eighth-order model of the plant and is found to satisfy both performance and stability requirements

Published in:

IEEE Transactions on Control Systems Technology  (Volume:3 ,  Issue: 4 )