Modelling and μ-synthesis control of flexible manipulators

Mansour Karkoub, Kumar Tamma

Research output: Contribution to journalArticle

40 Citations (Scopus)

Abstract

A dynamical model for a flexible manipulator is derived using the Timoshenko beam theory and the assumed mode method. A control design model is subsequently obtained. The linear model is qualitatively compared to the original model and the discrepancies are quantified in terms of uncertainty weights and included in the control design process. The μ-synthesis control design technique is then used to synthesize robust controllers for the flexible robot arm using different feedback signals. The designed controllers have lead to good tip tracking especially when a sensor is placed at the tip. The derived controllers are robust to unmodelled dynamics, input and actuation uncertainties, and noise.

Original languageEnglish
Pages (from-to)543-551
Number of pages9
JournalComputers and Structures
Volume79
Issue number5
DOIs
Publication statusPublished - Feb 2001
Externally publishedYes

Fingerprint

Flexible Manipulator
Flexible manipulators
Control Design
Synthesis
Controller
Modeling
Controllers
Uncertainty
Unmodeled Dynamics
Timoshenko Beam
Dynamical Model
Design Process
Discrepancy
Linear Model
Robot
Sensor
Robots
Feedback
Model
Sensors

ASJC Scopus subject areas

  • Computer Science Applications
  • Computational Mechanics

Cite this

Modelling and μ-synthesis control of flexible manipulators. / Karkoub, Mansour; Tamma, Kumar.

In: Computers and Structures, Vol. 79, No. 5, 02.2001, p. 543-551.

Research output: Contribution to journalArticle

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