A robust motion design technique for flexible-jointed manipulation systems

A robust motion design technique for flexible-jointed manipulation systems

A Robust Control Design Technique for Discrete-Time Systems

A robust state feedback design subject to placement of the closed loop eigenvalues in a prescribed region of unit circle is presented. Quantitative measures of robustness and disturbance rejection are investigated. A stochastic optimization algorithm is used to effect trade-off between the free design parameters and to accomplish all the design criteria. A numerical example is given to illustra...

Robust Controller Design for PTP Motion of Vertical XY Positioning Systems With a Flexible Beam

This paper presents a point-to-point (PTP) motion control method to get accurate positioning and to suppress vibration of a vertical positioning system with a flexible beam. The proposed method is composed of a feedforward and feedback controller. The input preshaping based on the analytic modeling and the frequency equation of the system is proposed as a feedforward controller to produce desir...

Design of Nonlinear Robust Controller and Observer for Control of a Flexible Spacecraft

Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control a 1D nonlinear flexible spacecraft. The first controller is based on dynamic inversion, while the second one is composed of dynamic inversion and µ-synthesis controllers. The extension of dynamic inversion approach to flexible spacecraft is impeded by the non-minimum phase characteristi...

Minimax Design of Robust Controllers for Flexible Systems

The design of robust time-delay and saturating controllers based on the range of expected variation of uncertain parameters from their nominal values is investigated. A minimax optimization problem is formulated with the objective of minimizing the maximum value of the cost function over the range of the uncertain parameter. By the adoption of the residual energy as the cost function, the optim...