TY - JOUR
T1 - H∞ robust control design for an arm manipulator
AU - González, L.
AU - Aguilar, L.
PY - 2000/1
Y1 - 2000/1
N2 - This paper deals with the application of the optimal H∞ control design technique to derive a controller for a 3 DOF arm manipulator affected by nonmodeled dynamics, nonlinearities, actuator dynamics and sensor noise. The control objectives were to obtain a robust stable with robust performance controlled system. A family of nonparametric models for a finite number of the arm configurations was obtained. Then, a multivariable nominal model was proposed and derived together with additive nonparametric uncertainty bounds. Weighting functions were used to normalize the H∞ norm of the uncertainty and to act on the command, sensor, and error signals. Finally, a controller was computed by solving the corresponding H∞ optimization problem. The controller was tried on the nominal and worst case configuration models. The results showed robust stability and robust performance of the controlled system.
AB - This paper deals with the application of the optimal H∞ control design technique to derive a controller for a 3 DOF arm manipulator affected by nonmodeled dynamics, nonlinearities, actuator dynamics and sensor noise. The control objectives were to obtain a robust stable with robust performance controlled system. A family of nonparametric models for a finite number of the arm configurations was obtained. Then, a multivariable nominal model was proposed and derived together with additive nonparametric uncertainty bounds. Weighting functions were used to normalize the H∞ norm of the uncertainty and to act on the command, sensor, and error signals. Finally, a controller was computed by solving the corresponding H∞ optimization problem. The controller was tried on the nominal and worst case configuration models. The results showed robust stability and robust performance of the controlled system.
UR - http://www.scopus.com/inward/record.url?scp=0343832011&partnerID=8YFLogxK
U2 - 10.1023/A:1008189727825
DO - 10.1023/A:1008189727825
M3 - Artículo
SN - 0921-0296
VL - 27
SP - 21
EP - 30
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 1-2
ER -