Accession Number : ADA311707

Title :   Design and Application of Robust Reduced-Order Hybrid Position and Force Controllers for a Two-Link Flexible Manipulator.

Descriptive Note : Doctoral thesis,

Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH

Personal Author(s) : Bossert, David E.

PDF Url : ADA311707

Report Date : 09 MAY 1996

Pagination or Media Count : 266

Abstract : This research focuses on the design and application of robust reduced-order hybrid position and force controllers on a two-link flexible manipulator. The first part of the research examines the design aspect of the hybrid controllers. Traditionally, full-order controllers are used in common techniques such as Linear-Quadratic-Gaussian (LQG) control. If the plant is of large order, then the resulting controller is also of large order. Full-order controllers have the disadvantages of requiring large amounts of memory as well as using excessive computational time. In addition, LQG-class controllers are only guaranteed to work at the design condition. With the use of the direct-optimization tool SANDY, reduced-order controllers are designed directly for several plant conditions (robustness). The experimental results show that the robust reduced-order SANDY controllers provide comparable performance to the full-order LQG controllers in the applications of position control, force control, and hybrid position and force control.

Descriptors :   *ROBOTICS, *MANIPULATORS, CONTROL SYSTEMS, COMPUTATIONS, THESES, HYBRID SYSTEMS.

Subject Categories : Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE