Robust nonlinear reduced-order dynamic controller design and its application to a single-link manipulator

Author

Zhou, J.Y. ; Zhou, R.J. ; Wang, Y.Y.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore

Volume

2

fYear

2001

fDate

2001

Firstpage

1149

Abstract

We focus on the design of robust reduced-order dynamic feedback control for a class of nonlinear systems with uncertainties. A robust nonlinear reduced-order dynamic controller (RNRDC) is proposed. The resulting closed-loop system can be robustly stabilized for all admissible uncertainties via the proposed controller. The application of the proposed RNRDC to a permanent magnet brush DC motor driving a single-link manipulator is also considered. The parameters uncertainties can be up to ±80%. The load can vary ranging from 50% to +100% of the nominal value. Our simulation results show that for the example system the proposed RNRDC can achieve good performance.

Keywords

DC motor drives; Riccati equations; closed loop systems; control system synthesis; feedback; manipulator dynamics; nonlinear dynamical systems; reduced order systems; robust control; Riccati equation; closed-loop system; feedback; nonlinear dynamical systems; permanent magnet DC motor drive; reduced-order system; robust control; single-link manipulator; uncertain systems; Brushes; Control systems; DC motors; Feedback control; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear systems; Robust control; Uncertain systems; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932766

Filename

932766