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• W1482331835 abstract "This paper presents laboratory control experiments on a two-dof flexible link manipulator using optimal and robust methods. Considering the flexible mechanical structure as a system with slow and fast modes, the system dynamics is decomposed into a slow and a fast subsystem that can be controlled separately. Two experimental robust control approaches are considered. In a first test an LQR optimal design strategy is used, while a second design includes a sliding-mode structure for the slow subsystem. Experimental results are compared with conventional rigid control schemes and show that this composite approach achieves good closed-loop tracking properties for both design philosophies." @default.
• W1482331835 created "2016-06-24" @default.
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• W1482331835 date "2006-10-04" @default.
• W1482331835 modified "2023-09-26" @default.
• W1482331835 title "Composite Robust Control of a Laboratory Flexible Manipulator" @default.
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• W1482331835 doi "https://doi.org/10.1109/cdc.2005.1582723" @default.
• W1482331835 hasPublicationYear "2006" @default.
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