H-INFINITY ROBUST-CONTROL OF FLEXIBLE MANIPULATOR VIBRATION BY USING A PIEZOELECTRIC-TYPE SERVO-DAMPER

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An H(infinity) controller design scheme based on the matrix fraction stability condition is proposed for the vibration control of a flexible manipulator, which has the matrix fraction uncertainty. The proposed controller is then applied to the cantilever bearn with a piezoelectric-type servo-damper so that the vibration at the free end of the beam is effectively suppressed, while its effective length slowly changes.
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Issue Date
1994-06
Language
English
Article Type
Article
Keywords

MULTIVARIABLE SYSTEMS; FEEDBACK; STABILIZABILITY; STABILIZATION; STABILITY

Citation

CONTROL ENGINEERING PRACTICE, v.2, no.3, pp.421 - 430

ISSN
0967-0661
URI
http://hdl.handle.net/10203/2858
Appears in Collection
ME-Journal Papers(저널논문)
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