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Please use this identifier to cite or link to this item: http://dspace.library.iitb.ac.in/jspui/handle/10054/11896

Title: A gain scheduled robust controller for a sliding flexible link manipulator
Authors: BANAVAR, RN
DOMINIC, P
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.
URI: http://dx.doi.org/10.1177/107754639900500504
http://dspace.library.iitb.ac.in/xmlui/handle/10054/11896
http://hdl.handle.net/10054/11896
ISSN: 1077-5463
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