{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/23435"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/23435","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Robust low-order control of flexible joint manipulators","abstract":"This thesis presents the application of novel linear time invariant techniques to the design of low-order controllers for flexible joint manipulators. The nonlinear manipulator model is linearized via the perturbation method about an unstable operating point. Some nonlinear terms are treated as an external disturbance, and parametric uncertainty is represented as the structured uncertainty of the nominal plant. The $H\\sb{\\infty}$-norm approach is then utilized to design a robust state feedback controller to stabilize the linear system and to give a specified bound on the disturbance rejection of the closed-loop system with enough robustness margin as to stabilize the actual nonlinear model.","abstract_html":"This thesis presents the application of novel linear time invariant techniques to the design of low-order controllers for flexible joint manipulators. The nonlinear manipulator model is linearized via the perturbation method about an unstable operating point. Some nonlinear terms are treated as an external disturbance, and parametric uncertainty is represented as the structured uncertainty of the nominal plant. The $H\\sb{\\infty}$-norm approach is then utilized to design a robust state feedback controller to stabilize the linear system and to give a specified bound on the disturbance rejection of the closed-loop system with enough robustness margin as to stabilize the actual nonlinear model.","abstract_has_math":true,"creators":["Astorga, Joaquin"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical Engineering","degree_department":null,"school":null,"contributors":["Medanic, Juraj V."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-05-07T14:14:05Z","date_published":"2011-05-07T14:14:05Z","updated_at":"2026-07-22T22:25:22Z","subjects":["Engineering, Electronics and Electrical"],"languages":["eng"],"rights":["Copyright 1990 Astorga, Joaquin"],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["AAI9114166","(UMI)AAI9114166"],"render_values":[{"text":"AAI9114166","href":null,"code":true},{"text":"(UMI)AAI9114166","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/23435","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Medanic, Juraj V."]},{"key":"dc:creator","label":"Author","values":["Astorga, Joaquin"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2011-05-07T14:14:05Z","10000-01-01","1990"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Electronics and Electrical"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 1990 Astorga, Joaquin"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["AAI9114166","(UMI)AAI9114166","http://hdl.handle.net/2142/23435"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis presents the application of novel linear time invariant techniques to the design of low-order controllers for flexible joint manipulators. The nonlinear manipulator model is linearized via the perturbation method about an unstable operating point. Some nonlinear terms are treated as an external disturbance, and parametric uncertainty is represented as the structured uncertainty of the nominal plant. The $H\\sb{\\infty}$-norm approach is then utilized to design a robust state feedback controller to stabilize the linear system and to give a specified bound on the disturbance rejection of the closed-loop system with enough robustness margin as to stabilize the actual nonlinear model.","The nominal linear system with the state feedback controller determines the reference dynamics to be retained by the low-order controller based on the projective controls approach. The residual dynamics of the closed-loop system are selected under a suitable criterion to enhance disturbance rejection.","The nonlinear model of the manipulator is also treated as a nonlinear system with structured uncertainty and sufficient conditions are determined for stability and disturbance rejection using linear state feedback and full-order controllers. Examples are given in the case of the one-link and two-link manipulators.","The decentralized control option is also studied. The design of the controllers is based on a linear decoupled model obtained from the linearized model. The methodology here follows the same two phases of design used in the centralized case. Adaptive mechanisms are illustrated to improve the robust performance of the low-order decentralized control.","Made available in DSpace on 2011-05-07T14:14:05Z (GMT). No. of bitstreams: 2 license.txt: 4922 bytes, checksum: 910b249b4beec47e7ab768910c8f966f (MD5) 9114166.pdf: 4267114 bytes, checksum: 8c67b54ccb8cad72e429b634d50f491e (MD5) Previous issue date: 1990","Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Howard Ding (hding2@illinois.edu) on 2011-05-07T15:04:27Z Item is restricted indefinitely.","Restriction data tranferred 2014-07-01T11:30:48-05:00 Original Data Group with Access UIUC Users [automated] Release Date: none Reason: ETDs are only available to UIUC Users without author permission","ETDs are only available to UIUC Users without author permission","U of I Only"]},{"key":"dc:title","label":"Title","values":["Robust low-order control of flexible joint manipulators"]}]}],"canonical_facts":{"dc:contributor":["Medanic, Juraj V."],"dc:creator":["Astorga, Joaquin"],"dc:date":["2011-05-07T14:14:05Z","10000-01-01","1990"],"dc:description":["This thesis presents the application of novel linear time invariant techniques to the design of low-order controllers for flexible joint manipulators. The nonlinear manipulator model is linearized via the perturbation method about an unstable operating point. Some nonlinear terms are treated as an external disturbance, and parametric uncertainty is represented as the structured uncertainty of the nominal plant. The $H\\sb{\\infty}$-norm approach is then utilized to design a robust state feedback controller to stabilize the linear system and to give a specified bound on the disturbance rejection of the closed-loop system with enough robustness margin as to stabilize the actual nonlinear model.","The nominal linear system with the state feedback controller determines the reference dynamics to be retained by the low-order controller based on the projective controls approach. The residual dynamics of the closed-loop system are selected under a suitable criterion to enhance disturbance rejection.","The nonlinear model of the manipulator is also treated as a nonlinear system with structured uncertainty and sufficient conditions are determined for stability and disturbance rejection using linear state feedback and full-order controllers. Examples are given in the case of the one-link and two-link manipulators.","The decentralized control option is also studied. The design of the controllers is based on a linear decoupled model obtained from the linearized model. The methodology here follows the same two phases of design used in the centralized case. Adaptive mechanisms are illustrated to improve the robust performance of the low-order decentralized control.","Made available in DSpace on 2011-05-07T14:14:05Z (GMT). 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