NASA NTRS · 19910045529
End-point controller design for an experimental two-link flexible manipulator using convex optimization
Abstract
Recent results in linear controller design are used to design an end-point controller for an experimental two-link flexible manipulator. A nominal 14-state linear-quadratic-Gaussian (LQG) controller was augmented with a 528-tap finite-impulse-response (FIR) filter designed using convex optimization techniques. The resulting 278-state controller produced improved end-point trajectory tracking and disturbance rejection in simulation and experimentally in real time.
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Oakley, Celia M., Barratt, Craig H.. 1990-01-01. End-point controller design for an experimental two-link flexible manipulator using convex optimization. https://ntrs.nasa.gov/citations/19910045529
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