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.
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González, L., Aguilar, L. H∞ Robust Control Design for an Arm Manipulator. Journal of Intelligent and Robotic Systems 27, 21–30 (2000). https://doi.org/10.1023/A:1008189727825
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DOI: https://doi.org/10.1023/A:1008189727825