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Robust Pole Placement in a Specified Trapezoid Region for Flexible Manipulators

Author

Listed:
  • T. C. Kuo

    (Chien Hsin University of Science Technology)

  • Y. J. Huang

    (Yuan Ze University)

  • C. Y. Chen

    (Yuan Ze University)

  • P. C. Wu

    (Yuan Ze University)

  • B. W. Hong

    (Yuan Ze University)

Abstract

This paper proposes a robust pole placement method for the joint dynamical models of flexible manipulators with parametric uncertainty. The proposed method incorporates Kharitonov’s theorem, the Routh–Hurwitz criterion, and the mapping theory. All system poles can be placed in a specified trapezoid region such that control system performance can be predefined.

Suggested Citation

  • T. C. Kuo & Y. J. Huang & C. Y. Chen & P. C. Wu & B. W. Hong, 2013. "Robust Pole Placement in a Specified Trapezoid Region for Flexible Manipulators," Journal of Optimization Theory and Applications, Springer, vol. 159(2), pages 507-517, November.
    • Handle: RePEc:spr:joptap:v:159:y:2013:i:2:d:10.1007_s10957-013-0321-9
    DOI: 10.1007/s10957-013-0321-9
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    References listed on IDEAS

    as
    1. T. S. Hu & Z. L. Lin & J. Lam, 2004. "Unified Gradient Approach to Performance Optimization Under a Pole Assignment Constraint," Journal of Optimization Theory and Applications, Springer, vol. 121(2), pages 361-383, May.
    2. R. M. Palhares & P. L. D. Peres, 1999. "Robust ℋ∞-Filtering Design with Pole Placement Constraint via Linear Matrix Inequalities," Journal of Optimization Theory and Applications, Springer, vol. 102(2), pages 239-261, August.
    3. Z. Wang & K. J. Burnham, 2002. "LMI Approach to Output Feedback Control for Linear Uncertain Systems with D-Stability Constraints," Journal of Optimization Theory and Applications, Springer, vol. 113(2), pages 357-372, May.
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