제어로봇시스템학회:학술대회논문집
- 1993.10b
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- Pages.105-108
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- 1993
Robust control system design for a flexible arm by a two-degree-of-freedom compensator
- Shimomoto, Y. (Mechanical Systems Engineering, Nagasaki University, Nagasaki, Japan) ;
- Kobayashi, T. (Faculty of Engineering, Kyushu Institute of Technology) ;
- Miyaura, S. (Faculty of Engineering, Kyushu Institute of Technology) ;
- Ishimatsu, T. (Mechanical Systems Engineering, Nagasaki University, Nagasaki, Japan)
- Published : 1993.10.01
Abstract
This paper is concerned with a two-degree-offreedom control system design for a flexible arm, a two-degree-of-frecdom control system can achieve a robust stability specification and a control performance specification independently. By this property we improve the control performance with maintaining the same robust stability level as that of the onc-dcgree-of-freedom control system. At First we design a two-degree-of-fteedom control system which includes a feedforward controller and a feedback controller. The feedforward controller can be given by specifying a transfer function of a dcsired closed-loop model. We obtain a feedback controller by solving a mixed sensitivity problem. Several numerical results show that two-degree-of-freedom control systems acheive a better control performance than that of one-degree-of-freedom control systems.
Keywords