NDLI: Robust noncollocated passive models of a flexible link with uncertain payload and joint inertia

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Robust noncollocated passive models of a flexible link with uncertain payload and joint inertia

Content Provider	IEEE Xplore Digital Library
Author	Saad, M. Saydy, L. Akhril, O.
Copyright Year	2000
Description	Author affiliation: Ecole Polytech. de Montreal, Que., Canada (Saad, M.)
Abstract	In Proc. IEEE Conf. on Control Applications, Alaska, p. 971-975, Saad et al. used the passivity to control a noncollocated output consisting of the angle of rotation at the hub augmented with a weighted value of the angle of rotation of the link's extremity. They proposed a technique for determining the closest output to the tip resulting in a passive transfer function. In this paper we extend their work to include robustness relative to the payload variation and joint inertia. We show in particular that for a particular choice of the proposed output, the transfer function is passive for all admissible values of the payload mass.
Starting Page	713
Ending Page	716
File Size	320937
Page Count	4
File Format	PDF
ISBN	0780365429
DOI	10.1109/ICECS.2000.912977
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-12-17
Publisher Place	Lebanon
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Payloads Transfer functions Extremities Robot sensing systems Chemical technology Partial differential equations Robot control Torque control Rotation measurement
Content Type	Text
Resource Type	Article

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