A gain scheduled robust controller for a sliding flexible link manipulator

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A gain scheduled robust controller for a sliding flexible link manipulator

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dc.contributor.author BANAVAR, RN en_US
dc.contributor.author DOMINIC, P en_US
dc.date.accessioned 2011-08-29T01:00:49Z en_US
dc.date.accessioned 2011-12-26T12:58:17Z en_US
dc.date.accessioned 2011-12-27T05:47:57Z
dc.date.available 2011-08-29T01:00:49Z en_US
dc.date.available 2011-12-26T12:58:17Z en_US
dc.date.available 2011-12-27T05:47:57Z
dc.date.issued 1999 en_US
dc.identifier.citation JOURNAL OF VIBRATION AND CONTROL, 5(5), 725-740 en_US
dc.identifier.issn 1077-5463 en_US
dc.identifier.uri http://dx.doi.org/10.1177/107754639900500504 en_US
dc.identifier.uri http://dspace.library.iitb.ac.in/xmlui/handle/10054/11896 en_US
dc.identifier.uri http://hdl.handle.net/10054/11896
dc.description.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. en_US
dc.language.iso en en_US
dc.publisher SAGE PUBLICATIONS INC en_US
dc.subject.other flexible manipulator en_US
dc.subject.other robust control en_US
dc.title A gain scheduled robust controller for a sliding flexible link manipulator en_US
dc.type Article en_US


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