การออกแบบตัวควบคุมสำหรับแขนหุ่นยนต์ข้อต่อเดียวแบบอ่อนตัวภายใต้สัญญาณรบกวนที่มีขอบเขต

Abstract

This paper presents a controller design for one-link flexible robot arm to reject effect due to bounded disturbances. The controller design problem is formulated as l₁ control synthesis which aims to minimize the peak output response. The design procedure employs the coprime factorization and duality theorem to transform the controller design problem to linear programming (LP). Then, the optimal solution of LP problem leads to the optimal controller. The computer simulation shows that for specific disturbances the output response has minimum peak magnitude and rapidly decays to zero. Finally, we compare the results based on l₁ control design with that of an observer-based deadbeat controller to show advantages of l₁ control.