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ROBUST TRACKING CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR
M. L. Kerr*, S. F. Asokanthan* and S. Jayasuriya**
* Department of Mechanical Engineering, The University of Queensland, Brisbane,
Queensland, 4072, Australia, E-mail: kerr@mech.uq.edu.au, sasokanthan@eng.uwo.ca
** Department of Mechanical Engineering, Texas A&M University, College Station,
Texas, 77843, USA, E-mail: sjayasuriya@mengr.tamu.edu
Quantitative Feedback Theory (QFT) is employed to achieve time domain specifications on the tip position of a hybrid actuated single-link flexible manipulator. The manipulator payload conditions are varied to assess the robustness of the synthesised control system to parametric uncertainty. A combination of QFT multi input multi output (MIMO) design methods 1 (non-sequential) and 2 (sequential) is utilised in the control system synthesis to overcome difficulties in the construction of the performance bounds. Time domain simulations validate the design method and demonstrate the effectiveness of the control system that incorporates hybrid actuation.
Keywords: Flexible Arms; Robust Control; Robotic Manipulators; MIMO; Multivariable Control; Feedback Control
Session slot T-Tu-A15: Robust Control II/Area code 2e : Robust Control
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