Robust control of robot manipulators with parametric uncertainty

1994 ◽  
Vol 39 (6) ◽  
pp. 1230-1233 ◽  
Author(s):  
Keun-Mo Koo ◽  
Jong-Hwan Kim
Keyword(s):  
Robust Control ◽  
Robot Manipulators ◽  
Parametric Uncertainty

An Observer-Based Design for Robust Control of Robot Manipulators

1990 ◽  
Author(s):  
Walter Grossman ◽  
Farshad Khorrami ◽  
Bernard Friedland
Keyword(s):  
Robust Control ◽  
Robot Manipulators

scholarly journals Robust Control Based on Joint Torque Sensor Information for Robot Manipulators

1991 ◽  
Vol 27 (6) ◽  
pp. 693-699
Author(s):  
Junichi IMURA ◽  
Toshiharu SUGIE ◽  
Yasuyoshi YOKOKOHJI ◽  
Tsuneo YOSHIKAWA
Keyword(s):  
Robust Control ◽  
Robot Manipulators ◽  
Joint Torque ◽  
Torque Sensor ◽  
Joint Torque Sensor ◽  
Sensor Information

Robust vibration control of flexible panel: modeling and simulation

2017 ◽  
Vol 14 (5) ◽  
pp. 433-442
Author(s):  
Aalya Banu ◽  
Asan G.A. Muthalif
Keyword(s):  
Robust Control ◽  
Vibration Control ◽  
Controller Design ◽  
Control Strategies ◽  
Active Vibration Control ◽  
Flexible Structures ◽  
Parametric Uncertainty ◽  
Design Algorithm ◽  
Content Type ◽  
And Performance

Purpose This paper aims to develop a robust controller to control vibration of a thin plate attached with two piezoelectric patches in the presence of uncertainties in the mass of the plate. The main goal of this study is to tackle dynamic perturbation that could lead to modelling error in flexible structures. The controller is designed to suppress first and second modal vibrations. Design/methodology/approach Out of various robust control strategies, μ-synthesis controller design algorithm has been used for active vibration control of a simply supported thin place excited and actuated using two piezoelectric patches. Parametric uncertainty in the system is taken into account so that the robust system will be achieved by maximizing the complex stability radius of the closed-loop system. Effectiveness of the designed controller is validated through robust stability and performance analysis. Findings Results obtained from numerical simulation indicate that implementation of the designed controller can effectively suppress the vibration of the system at the first and second modal frequencies by 98.5 and 88.4 per cent, respectively, despite the presence of structural uncertainties. The designed controller has also shown satisfactory results in terms of robustness and performance. Originality/value Although vibration control in designing any structural system has been an active topic for decades, Ordinary fixed controllers designed based on nominal parameters do not take into account the uncertainties present in and around the system and hence lose their effectiveness when subjected to uncertainties. This paper fulfills an identified need to design a robust control system that accommodates uncertainties.

Smooth Robust Control for Robot Manipulators

1998 ◽  
pp. 275-280 ◽  
Author(s):  
BW Bekit ◽  
JF Whidborne ◽  
LD Seneviratne
Keyword(s):  
Robust Control ◽  
Robot Manipulators
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