{"title":"基于性能限制的组合羞耻感机械臂鲁棒控制","authors":"N. Mohammadzadeh, M. Mola, R. Amirifar","doi":"10.1109/MED.2009.5164730","DOIUrl":null,"url":null,"abstract":"The control of an industrial manipulator Arm with high accuracy in the presence of multi-model is a challenging control problem. In this paper, it is shown that based on identified models a robust linear controller can be designed using the combined pole placement method with sensitivity function shaping in the frequency domain via performance limitation for example modulus margin. This controller provides satisfactory performance for a large range of load variations.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust control of manipulator arm using combined shame via performance limitation\",\"authors\":\"N. Mohammadzadeh, M. Mola, R. Amirifar\",\"doi\":\"10.1109/MED.2009.5164730\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The control of an industrial manipulator Arm with high accuracy in the presence of multi-model is a challenging control problem. In this paper, it is shown that based on identified models a robust linear controller can be designed using the combined pole placement method with sensitivity function shaping in the frequency domain via performance limitation for example modulus margin. This controller provides satisfactory performance for a large range of load variations.\",\"PeriodicalId\":422386,\"journal\":{\"name\":\"2009 17th Mediterranean Conference on Control and Automation\",\"volume\":\"3 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-06-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 17th Mediterranean Conference on Control and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2009.5164730\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 17th Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2009.5164730","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust control of manipulator arm using combined shame via performance limitation
The control of an industrial manipulator Arm with high accuracy in the presence of multi-model is a challenging control problem. In this paper, it is shown that based on identified models a robust linear controller can be designed using the combined pole placement method with sensitivity function shaping in the frequency domain via performance limitation for example modulus margin. This controller provides satisfactory performance for a large range of load variations.
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