H∞ control of a SCARA robot using polytopic LPV approach

H∞ control of a SCARA robot using polytopic LPV approach

This paper investigates the H ∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H ∞ approach are used to...

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Bibliographische Detailangaben
Hauptverfasser: Ali, H.S., Boutat-Baddas, L., Becis-Aubry, Y., Darouach, M.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Controller design
Equations
Filters
H infinity control
Hinfinity optimization
LMI
LPV system
Manipulators
Nonlinear control systems
Nonlinear systems
pole placement
Polytopic representation
Robot control
Robust control
Robust design
SCARA robot manipulator
State feedback
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Beschreibung
Zusammenfassung:This paper investigates the H ∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H ∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements
DOI:10.1109/MED.2006.328836