Robust Control of a Flexible Arm
Kang-Zhi Liu, Koji Higaki and Tsutomu Mita
Dept. of Electrical and Electronics Engineering, Faculty of Engineering, Chiba University, 1-33, Yayoi-cho, Inage-ku, Chiba, 263 Japan
Received:March 17, 1994Accepted:March 25, 1994Published:June 20, 1994
Keywords:Two-degree-of-freedom control, H∞ control, Signal-matching method, Flexible arm, Vibration control
This paper addresses the vibration control of a flexible arm with a two-degree-of-freedom robust controller. The feedback controller is designed by H∞ control theory to achieve robust distrubance attenuation, and the feedforward controller is designed by a signal-matching method to improve the trasient response. An experiment verifies that this methodology is effective.
Cite this article as:K. Liu, K. Higaki, and T. Mita, “Robust Control of a Flexible Arm,” J. Robot. Mechatron., Vol.6 No.3, pp. 214-219, 1994.Data files: