Non-linear control with end-point acceleration feedback for a two-link flexible manipulator. Experimental results

Farshad Khorrami; Sandeep Jain

doi:10.23919/acc.1992.4792691

Non-linear control with end-point acceleration feedback for a two-link flexible manipulator. Experimental results

Farshad Khorrami, Sandeep Jain

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.

Original language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	2969-2970
Number of pages	2
ISBN (Print)	0780302109, 9780780302105
DOIs	https://doi.org/10.23919/acc.1992.4792691
State	Published - 1992
Event	Proceedings of the 1992 American Control Conference - Chicago, IL, USA Duration: Jun 24 1992 → Jun 26 1992

Publication series

Name	Proceedings of the American Control Conference
Volume	4
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1992 American Control Conference
City	Chicago, IL, USA
Period	6/24/92 → 6/26/92

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/acc.1992.4792691

Cite this

Non-linear control with end-point acceleration feedback for a two-link flexible manipulator. Experimental results. / Khorrami, Farshad; Jain, Sandeep.
Proceedings of the American Control Conference. Publ by American Automatic Control Council, 1992. p. 2969-2970 (Proceedings of the American Control Conference; Vol. 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Khorrami, F & Jain, S 1992, Non-linear control with end-point acceleration feedback for a two-link flexible manipulator. Experimental results. in Proceedings of the American Control Conference. Proceedings of the American Control Conference, vol. 4, Publ by American Automatic Control Council, pp. 2969-2970, Proceedings of the 1992 American Control Conference, Chicago, IL, USA, 6/24/92. https://doi.org/10.23919/acc.1992.4792691

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abstract = "In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.",

author = "Farshad Khorrami and Sandeep Jain",

year = "1992",

doi = "10.23919/acc.1992.4792691",

language = "English (US)",

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series = "Proceedings of the American Control Conference",

publisher = "Publ by American Automatic Control Council",

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AB - In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.

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T3 - Proceedings of the American Control Conference

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T2 - Proceedings of the 1992 American Control Conference

Y2 - 24 June 1992 through 26 June 1992

ER -

Non-linear control with end-point acceleration feedback for a two-link flexible manipulator. Experimental results

Abstract

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