Parameter Sensitivity Analysis for Design and Control of Tendon Transmissions
作者： Vincent Hayward , Juan Manuel Cruz-Hernández
DOI: 10.1007/BFB0035215
关键词:
摘要: We apply sensitivity analysis to the design and control of a tendon transmission. With this approach, some prefered values for system parameters feedback compensator can be proposed. The controller has special characteristic being designed based on linear plant using robust loopshaping technique, yet it compensates also nonlinear behavior plant, while exhibiting good disturbance rejection robustness. Experimental results test bench are discussed.
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