ISSN:
1573-0409
Keywords:
nonparametric model
;
additive unstructured uncertainty
;
weighting functions
;
robust performance
;
robust stability
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract 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.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1008189727825
Permalink
