QFT Based Robust Control of a Single-Link Flexible Manipulator-Reference-Cited by-同舟云学术

QFT Based Robust Control of a Single-Link Flexible Manipulator

Published:2007-01 Issue:1 Volume:13 Page:3-27
ISSN:1077-5463
Container-title:Journal of Vibration and Control
language:en
Short-container-title:Journal of Vibration and Control

Author:

Kerr Murray L.¹,Jayasuriya Suhada²,Asokanthan Samuel F.³

Affiliation:

1. Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA,

2. Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA

3. Department of Mechanical and Materials Engineering, The University of Western Ontario, London, Ontario N6A 5B9, Canada

Abstract

This article presents the application of multi-input multi-output (MIMO) quantitative feedback theory (QFT) to the control of a single-link flexible manipulator. The manipulator employs an actuation scheme comprised of a DC motor that provides spatially discrete actuation and a surface bonded piezoelectric ceramic that provides spatially distributed actuation. The efficacy of the sequential MIMO QFT methodology for articulating flexible structure control is investigated using the flexible manipulator testbed, with the control system designed to achieve rapid, rest-to-rest positioning of the manipulator tip in the presence of significant parametric and non-parametric structured uncertainty. Numerical simulations and experiments are employed to validate the synthesised control system and the combined discrete-distributed actuation scheme. Conservatisms in the MIMO QFT methodology are identified and partly alleviated using recent theoretical and design improvements.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science

Link

http://journals.sagepub.com/doi/pdf/10.1177/1077546306064826

Reference24 articles.

1. µ Synthesis for a Large Flexible Space Structure Experimental Testbed

2. Initial Experiments on the End-Point Control of a Flexible One-Link Robot

3. An Evaluation of Several Controller Synthesis Methodologies Using a Rotating Flexible Beam as a Test Bed

Cited by 4 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Two Degree-of-Freedom Vibration Control of a 3D, 2 Link Flexible Manipulator;Advances in Science, Technology and Engineering Systems Journal;2018

2. Robust isophase margin control of oscillatory systems with large uncertainties in their parameters: A fractional-order control approach;International Journal of Robust and Nonlinear Control;2016-09-26

3. Inversion-free decentralised quantitative feedback design of large-scale systems;International Journal of Systems Science;2014-08-26

4. Design of Trajectories with Physical Constraints for very Lightweight Single Link Flexible Arms;Journal of Vibration and Control;2008-06-04