柔性臂系统的线性控制:H∞与回路传递恢复方法的比较——在实验臂上的应用

MELECON 2014 - 2014 17th IEEE Mediterranean Electrotechnical Conference Pub Date : 2014-05-26 DOI:10.1109/MELCON.2014.6820552

P. Jodouin, M. Saad, R. Wamkeue

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引用次数: 5

摘要

本文对一种单连杆柔性机械臂进行了建模和控制。首先提出了线性模型。设计了两种不同的控制器并应用于所开发的模型:第一种是基于线性二次高斯/环传递恢复(LQG/LTR)方法的控制器;第二种是基于h∞方法。将这两种控制器实时应用于一个物理系统，并对实验结果进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Linear control of a flexible arm system: Comparison of H∞ and loop transfer recover methods-application to an experimental arm

In this paper, a one link flexible manipulator is modeled and controlled. Linear model is first presented. Two different controllers are designed and applied to the developed model: the first one is based on Linear Quadratic Gaussian/Loop Transfer Recover (LQG/LTR) method; the second one is based on the H-infinity method. The two controllers are applied in real time on a physical system and the experimental results are compared.

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MELECON 2014 - 2014 17th IEEE Mediterranean Electrotechnical Conference

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