A gain scheduled robust controller for a sliding flexible link manipulator

DSpace/Manakin Repository

A gain scheduled robust controller for a sliding flexible link manipulator

Show full item record

Title: A gain scheduled robust controller for a sliding flexible link manipulator
Author: BANAVAR, RN; DOMINIC, P
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
Date: 1999


Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show full item record

Search DSpace


Advanced Search

Browse

My Account