Application of an H∞ control strategy to the parallel Delta

The work presented in this paper concerns the application of the H∞ robust control law to a highly nonlinear MIMO system: The three degrees of freedom direct drive Delta parallel robot. We first developed a state space dynamic model. Then, we carried out its linearization around an operating point....

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Bibliographische Detailangaben

Hauptverfasser:	Rachedi, M., Bouri, M., Hemici, B.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Aerospace electronics Delta Parallel Robot H∞ MIMO robust control Mathematical model Robust control Robustness Service robots simulation state space tangential linearization Trajectory
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