NDLI: A case study of robust control experiment on one-link flexible robot arm

Content Provider	IEEE Xplore Digital Library
Author	Chaichanavong, P. Banjerdpongchai, D.
Copyright Year	1999
Description	Author affiliation: Dept. of Electr. Eng., Stanford Univ., CA, USA (Chaichanavong, P.)
Abstract	A linear model of a one-link flexible robot arm is only an approximation to the real system, whose parameters are subject to change due to working conditions. The paper presents a simple experiment to demonstrate the necessity of robust control to industrial robots. Two control techniques, linear quadratic Gaussian (LQG) and loop shaping, are used to design controllers for our laboratory flexible robot arm. The LQG controller yields an optimal closed-loop performance for the nominal system, but when plant parameters are perturbed, the performance significantly degrades. On the other hand, under the same perturbations, a loop shaping controller can robustly maintain the system stability and result in an acceptable performance. The agreement between simulation results and experimental results provides an initial step to our laboratory setup which is presently planned for the introduction of a robust control class.
Starting Page	4319
Ending Page	4324
File Size	487028
Page Count	6
File Format	PDF
ISBN	0780352505
ISSN	01912216
DOI	10.1109/CDC.1999.833221
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-12-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Service robots Shape control Laboratories Control systems Robust stability Employee welfare Electrical equipment industry Industrial control Robot control
Content Type	Text
Resource Type	Article

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