Constrained H∞ Control of an Experimental Flexible Link

[+] Author and Article Information
A. Tchernychev, A. Sideris, Jie Yu

Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975

J. Dyn. Sys., Meas., Control 119(2), 206-211 (Jun 01, 1997) (6 pages) doi:10.1115/1.2801234 History: Received March 10, 1995; Online December 03, 2007


A new approach is presented to design robust controllers for an experimental flexible beam with noncolocated sensors-actuator. The objective is to position the free end of the beam in the specified time under tight bounds on the trajectory of the tip and control action. We derive a transfer function nominal model for the beam and a quantitative description of model uncertainties based on experimentally obtained frequency response data. Robust controllers are designed by applying the recently developed Constrained H∞ control approach (Sideris and Rotstein, 1993, 1994), in which time-domain constraints are treated directly without translation to the frequency-domain. Constrained H∞ controllers are compared with standard H∞ and μ-synthesis designs in terms of both simulation and experimental results and are found to be superior in the considered case of stringent time-domain specifications.

Copyright © 1997 by The American Society of Mechanical Engineers
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