Linear Feedback Control

This chapter describes several linear feedback control techniques that can be used to robustly control flexible dynamic systems. As with any dynamic system, it is often difficult to accurately model the system with enough fidelity that open loop control performs as intended. Because modeling errors are often unavoidable, linear feedback is often used to compensate for these modeling uncertainty. Even though many of the flexible dynamic systems are nonlinear, their models can be adequately linearized about operating points and standard linear feedback control techniques can be applied with satisfactory results.

[1]  J.T. Feddema,et al.  Integration of model-based and sensor-based control for a two-link flexible robot arm , 1990, 1990 IEEE International Conference on Systems Engineering.

[2]  Craig H. Barratt,et al.  End-Point Controller Design for an Experimental Two-Link Flexible Manipulator using Convex Optimization , 1990, 1990 American Control Conference.

[3]  K. Åström.  Introduction to Stochastic Control Theory , 1970 .

[4]  R. E. Kalman,et al.  New Results in Linear Filtering and Prediction Theory , 1961 .

[5]  Rush D. Robinett,et al.  Lag-Stabilized Force Feedback Damping , 1998, J. Intell. Robotic Syst..

[6]  W. Press,et al.  Numerical Recipes: The Art of Scientific Computing , 1987 .

[7]  Eduardo D. Sontag,et al.  Mathematical Control Theory: Deterministic Finite Dimensional Systems , 1990 .

[8]  C. Abdallah,et al.  Delayed Positive Feedback Can Stabilize Oscillatory Systems , 1993, 1993 American Control Conference.

[9]  David A. Schoenwald,et al.  Minimum-time trajectory control of a two-link flexible robotic manipulator , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[10]  Kumar K. Tamma,et al.  Modelling and μ-synthesis control of flexible manipulators , 2001 .

[11]  R. Stengel.  Stochastic Optimal Control: Theory and Application , 1986 .

[12]  T. Soong,et al.  Mathematics of Kalman-Bucy filtering , 1985 .

[13]  Mark W. Spong,et al.  On noncollocated control of a single flexible link , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[14]  F. Lewis.  Optimal Estimation: With an Introduction to Stochastic Control Theory , 1986 .

[15]  R. H. Cannon,et al.  Anatomy of an experimental two-link flexible manipulator under end-point control , 1990, 29th IEEE Conference on Decision and Control.

[16]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[17]  B. Anderson,et al.  Optimal control: linear quadratic methods , 1990 .