Reduced-Order Model Based Control of Large Flexible Manipulators: Theory and Experiments Conference Paper uri icon


  • Active control of large flexible structure requires the use of reduced-order model control algorithms. Inherent in the application of ROM control schemes is the problem of controller / structure interaction (CSI). We address the issue of CSI through residual mode filter compensation which is added onto the ROM controller. The design of the ROM-based control law considers only system performance, while the RMF design insures closed-loop system stability. Here, we examine this partitioned design method in its discrete-time representation, focusing on its application to a flexible manipulator.

name of conference

  • 1990 American Control Conference

published proceedings

  • 1990 American Control Conference

author list (cited authors)

  • Reisenauer, B. T., Balas, M. J., & Ramey, M.

citation count

  • 0

complete list of authors

  • Reisenauer, Brian T||Balas, Mark J||Ramey, Madison

publication date

  • May 1990