Robust control of a flexible manipulator arm: A benchmark problem

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 16, Issue , 2005, Pages 137-142

  Moberg, Stig ^a   Öhr, Jonas ^a  

^a ABB CORPORATE RESEARCH   (Sweden)

Author keywords

Benchmark examples; Disturbance rejection; Flexible arms; Manipulators; QFT; Robust control; Sliding mode

Indexed keywords

BENCHMARKING; DISTURBANCE REJECTION; FLEXIBLE MANIPULATORS; MANIPULATORS; ROBOTIC ARMS;

BENCH-MARK PROBLEMS; CONTROL PROBLEMS; DISCRETE-TIME CONTROLLERS; FLEXIBLE ARM; FOUR-MASS SYSTEM; SIMULATION MODEL; SLIDING MODES;

ROBUST CONTROL;

EID: 79960720976     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20050703-6-cz-1902.00967     Document Type: Conference Paper

References (10)

1. Graebe, S. F. (1994). Robust and adaptive control of an unknown plant: A benchmark of new format. Automatica 30(4), 567-575.
2. Landau, I. D., D. Ray, A. Karimi, A. Voda and A. Franco (1995). A flexible transmission system as a benchmark for robust digital control. European Journal of Control 1(2), 77-96.
3. MathWorks (1999). MATLAB Optimization Toolbox Users Guide. The MathWorks Inc.. Natic, Mass.
4. MathWorks (2003). MATLAB and Simulink Users Guide. The MathWorks Inc.. Natic, Massachusetts, USA.
5. Moberg, S. and J. Öhr (2004). Svenskt mästerskap i robotreglering. In: Swedish Control Meeting 2004, Göteborg, Sweden.
6. Nordin, M. and P.-O. Gutman (1995). Digital QFT design for the benchmark problem. European Journal of Control 1(2), 97-103.
7. Rimer, M. and D. K. Frederick (1987). Solutions of the Grumman F-14 benchmark control problem. IEEE Control Systems Magazine 7(4), 36-40.
8. Roberto, O. (2005). Robust control of industrial robot - development of QFT based design. Master's thesis. Uppsala University. Signals & Systems.
9. Zhu, W.-H., H.-T. Chen and Z.-J. Zhang (1992). A variable structure robot control algorithm with an observer. IEEE Transactions on Robotics and Automation 8(4), 486-492.
10. Zhu, W.-H., M.B. Yun and Y. Altintas (2001). A fast tool servo design for precision turning of shafts on conventional CNC lathes. International Journal of Machine Tools & Manufacture 41(7), 953-965.