Controller Design Robust to Frequency Variation in a One-Link Flexible Robot Arm

[+] Author and Article Information
V. V. Korolov

Division of Engineering Technology, Wayne State University, Detroit, Mich. 48202

Y. H. Chen

Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, N.Y. 13244

J. Dyn. Sys., Meas., Control 111(1), 9-14 (Mar 01, 1989) (6 pages) doi:10.1115/1.3153025 History: Received October 22, 1987; Revised March 09, 1988; Online July 21, 2009


The end-point position control problem of a one-link flexible robot arm under wide spectrum of operating conditions is considered. Natural frequency variations may arise in practice and are treated as the uncertainty. A robust control scheme is designed for the manipulator for some guaranteed performances without the complete knowledge of uncertainty. The only required information of the uncertainty is its possible bound.

Copyright © 1989 by ASME
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