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|Title: ||A gain scheduled robust controller for a sliding flexible link manipulator|
|Authors: ||BANAVAR, RN|
|Issue Date: ||1999|
|Publisher: ||SAGE PUBLICATIONS INC|
|Citation: ||JOURNAL OF VIBRATION AND CONTROL, 5(5), 725-740|
|Abstract: ||The control of a two-link manipulator with a sliding flexible link that traverses inside a rigid link is considered. Since the plant possesses time-varying dynamics that change with the position of the tip, and considerable uncertainty, a fixed controller is unsatisfactory in terms of both performance and robustness. Hence, a controller that schedules with the position is sought and implemented. AnH(infinity) approach is adopted, and the resulting controller provides good performance and stability margins.|
|Appears in Collections:||Article|
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