Paper Title:
Adaptive Servo Control Based on LQR for Flexible Master-Slave System
  Abstract

In this study, an adaptive servo controller based on LQR is designed for flexible master-slave system (FMSS). A dynamics model, observer and servo controller based on LQR is built respectively. According to the parameter sensitive experiments, adaptive servo controller based on LQR is designed. This research focuses on the performance of rapid response and vibration suppression. Experimental results indicate that adaptive servo controller, which suppresses the saturation of the input torque to ensure the stability, has achieved short time delay and adequate vibration suppression.

  Info
Periodical
Edited by
Han Zhao
Pages
2433-2437
DOI
10.4028/www.scientific.net/AMM.130-134.2433
Citation
B. L. Jia, Y. Liu, Y. Kobayashi, "Adaptive Servo Control Based on LQR for Flexible Master-Slave System", Applied Mechanics and Materials, Vols. 130-134, pp. 2433-2437, 2012
Online since
October 2011
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