Robust low-order control of flexible joint manipulators

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2011

Author dc:creator

• Astorga, Joaquin

Contributors dc:contributor

• Medanic, Juraj V.

• Engineering, Electronics and Electrical

Statement dc:rights

• Copyright 1990 Astorga, Joaquin

Language dc:language

eng

Identifier

AAI9114166
(UMI)AAI9114166

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/23435