Controller Scaling Laws for Flexible Link Manipulators Characterized by Nondimensional Pi Groups
نویسندگان
چکیده
The nondimensional groups which characterize dynamically equivalent single exible link (SFL) ma-nipulators are determined using the Buckingham Pi method of dimensional analysis. Scaling laws for continuous-time and discrete-time linear rational controllers are developed for dynamically equivalent SFL systems. These theoretical scaling laws are veriied experimentally for a discrete PD control law.
منابع مشابه
Scaling Laws for Frequency Domain Controllers of Dynamicall Equivallent Single Flexible Link Manipulators
The nondimensional groups which characterize a group of dynamically equivalent single exible link (SFL) manipulators are determined. A scaling law for linear rational controllers is developed for dynamically equivalent SFL systems. As an example of the applicability of this theoretical scaling law to even sophisticated control techniques, it is veriied experimentally for an H 1 control strategy.
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