Position and Vibration Control of Flexible Arm using L2 Norm Criterion.

• OGATA Kazuya

• SEKO Masayosi

• HAYAKAWA Yoshikazu

Bibliographic Information

Other Title

• Ｌ２ゲイン性能を保証したフレキシブルロボットアームの防振制御
• L2 ゲイン セイノウ オ ホショウ シタ フレキシブルロボットアーム ノ ボウシン セイギョ

Abstract

When a light weight manipulator is moved quickly, the arm may bend and the control performance deteriorates. Such a manipulator must be modeled and controlled considering the flexibility. We propose a robust control design method for both the nonlinearity and high order modeling error caused by the arm flexibility. The control performance is evaluated based on the L₂ induced norm and an optimization problem is introduced. The feedback gain is solved by using LMI framework. Experimental results show the efficiency of this control system.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 65 (631), 977-984, 1999

  The Japan Society of Mechanical Engineers

Keywords

• Nonlinear Control
• Robust Control
• Flexible Structure
• Vibration Control
• L<SUB>2</SUB> Induced Norm

Details

• CRID: 1390282681305175040
• NII Article ID: 130004083889
• NII Article ID: 110002384734
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.65.977
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 4699308
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4699308
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/65/631/65_631_977/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed