Abstract
In this article we solve the problem of achieving quantitative specifications for the tip of a rotating flexible beam with uncertainty in some of its (physical and geometric) parameters. The frequency domain design method used here is also helpful in clarifying some limitations on the feedback loop capabilities due to the distributed nature of the problem. Finally, time domain simulations and laboratory experiments confirm the validity of the design method suggested in this work.
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References
M. Kelemen, J. Starrenburg and A. Bagchi (1991). “Modelling and feedback control of a flexible arm of a robot for prescribed frequency-domain tolerances”, TW Memorandum, Dept. of applied mathematics, University of Twente, Enschede, the Netherlands.
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© 1992 Springer Science+Business Media Dordrecht
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Kelemen, M., Starrenburg, J., Bagchi, A. (1992). Control of a Flexible Arm for Prescribed Frequency Domain Tolerances: Modelling, Controller Design, Laboratory Experiments. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_23
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DOI: https://doi.org/10.1007/978-94-011-2526-0_23
Publisher Name: Springer, Dordrecht
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