0
RESEARCH PAPERS

Perturbed Butterworth Pole Patterns for Tracking in the Sense of Spheres

[+] Author and Article Information
Suhada Jayasuriya

Department of Mechanical Engineering, Texas A&M University, College Station, Texas 77843

Chang-Doo Kee

Department of Mechanical Engineering, Suncheon National University, Suncheon, Korea

J. Dyn. Sys., Meas., Control 112(4), 574-585 (Dec 01, 1990) (12 pages) doi:10.1115/1.2896182 History: Received February 01, 1987; Revised November 01, 1989; Online March 17, 2008

Abstract

The “Quantitative Pole Placement” (QPP) identified in the context of guaranteed tracking in the sense of spheres is considered. At the center of this design philosophy is the need for directly satisfying performance specifications in uncertain, nonlinear systems. In the literature, this pole placement relies on trial and error. A systematic procedure is proposed for such pole placement when the nominal linear part of the uncertain nonlinear system is minimum phase. The approach to the problem is based on the standard LQR problem formulation. The preferred pole locations that minimize the critical operator norm needed for the success of the QPP formulation are conjectured to be a perturbed version of the Butterworth pole configuration. The results are applied to a 3 d.o.f. robotic manipulator.

Copyright © 1990 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In