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

abstract

• 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

authors

• Balas, Mark

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

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Communication System Control
• Control Systems
• Design Methodology
• Finite Impulse Response Filter
• Manipulators
• Read Only Memory
• Reduced Order Systems
• Robots
• STABILITY
• Tellurium

Digital Object Identifier (DOI)

• 10.23919/acc.1990.4791034

start page

• 1760

end page

• 1766

URL

• http://dx.doi.org/10.23919/acc.1990.4791034