Robust Control of a  Flexible Arm

Kang-Zhi Liu; Koji Higaki; Tsutomu Mita

doi:10.20965/jrm.1994.p0214

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JRM Vol.6 No.3 pp. 214-219

doi: 10.20965/jrm.1994.p0214

(1994)

Paper:

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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, 1994

Accepted:

March 25, 1994

Published:

June 20, 1994

Keywords:

Two-degree-of-freedom control, H_∞ control, Signal-matching method, Flexible arm, Vibration control

Abstract

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.

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