论文信息 - ROBUST CONTROL OF A BENDING-TORSION COUPLED FLEXIBLE ARM WITH UNCERTAINTIES

ROBUST CONTROL OF A BENDING-TORSION COUPLED FLEXIBLE ARM WITH UNCERTAINTIES

Abstract This paper presents a design procedure of H-infinity robust controller of a three-dimensional two links flexible robot arm taking account of posture change and uncertain payload. Two-degree-of freedom model is identified experimentally by utilizing Seto's modeling method. An H-infinity controller is obtained by using a generalized plant including error matrices and two filters; Error matrices represent the fluctuation of parameters between nominal and fluctuated model. Besides, A high-pass and a low-pass filter are introduced to avoid spilover or to realize pseudo-integrator, respectively. The effectiveness of the obtained controller are verified by the simulation and the control experiment.

Toru Watanabe | Kazuto Seto | Yasuaki Ryokata | Ryota Aikawa

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