Passivity Motivated Controller Design for Flexible Structures

Abstract

When actuators and sensors on a controlled mechanical structure form naturally passive pairs, which usually requires physical collocation, very robust stabilizing controllers can be constructed. If the number of such naturally passive pairs is small, the closed loop performance may not be satisfactory. This then motivates the incorporation of additional… (More)
DOI: 10.1109/ROBOT.1993.292235

Topics

4 Figures and Tables