Robust Control Approaches for a Two - LinkFlexible
نویسندگان
چکیده
Control approaches for a two-link exible manipulator are studied in the context of robust synthesis for Linear Parameter-Varying systems. Diier-ent treatments of the inertia matrix variations in the manipulator system are examined in three control law design formulations. The rst two designs are based upon scaled H 1 or structured singular value synthesis. The third design makes use of a new approach for robust gain-scheduled synthesis. Results show that this gain-scheduling technique maximizes both performance and robustness over the entire range of manipulator conngurations.
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