End-point controller design for an experimental two-link flexible manipulator using convex optimizationRecent results in linear controller design are used to design an end-point controller for an experimental two-link flexible manipulator. A nominal 14-state linear-quadratic-Gaussian (LQG) controller was augmented with a 528-tap finite-impulse-response (FIR) filter designed using convex optimization techniques. The resulting 278-state controller produced improved end-point trajectory tracking and disturbance rejection in simulation and experimentally in real time.
Document ID
19910045529
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Oakley, Celia M. (Stanford Univ. CA, United States)
Barratt, Craig H. (Stanford University CA, United States)