This paper investigates the application of the H∞ proportional-integral-derivative (FID) control synthesis method to tip position control of a flexible-link manipulator. To achieve high performance of PID control, this particular control design problem is cast into the H ∞ framework. Based on the recently proposed H∞ FID control synthesis method, a set of admissible controllers is then obtained to be robust against uncertainty introduced by neglecting the higher-order modes of the link and to achieve the desired time-response specifications. The most important feature of the H∞ FID control synthesis method is the ability to provide the knowledge of the entire admissible FID controller gain space which can facilitate controller fine tuning. Finally, experimental results are given to demonstrate the effectiveness of H∞ FID control.
|主出版物標題||Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05|
|出版狀態||Published - 2005|
|事件||44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain|
持續時間: 2005 十二月 12 → 2005 十二月 15
|Other||44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05|
|期間||05-12-12 → 05-12-15|
All Science Journal Classification (ASJC) codes