Title :
Robust path tracking control of industrial robots: An H ∞ approach
Author :
Song, Y.D. ; Alouani, A.T. ; Anderson, J.N.
Author_Institution :
NASA CORE for Aerospace. Res., North Carolina A&T State Univ., Greensboro, NC, USA
Abstract :
The path tracking control problem for industrial robots using a computed torque plus H∞ optimal compensation technique is examined. The former is used to render the robot model into a linear one with a generalized disturbance, where the disturbance is due to the model uncertainty, sensor noise and external disturbances. The H∞ technique is then applied to synthesize a compensator that minimized in the H∞ sense. Simulation results show the effectiveness of the proposed strategy
Keywords :
compensation; control system synthesis; industrial robots; linearisation techniques; optimal control; stability; H∞ optimal compensation; compensator synthesis; computed torque method; external disturbances; generalized disturbance; industrial robots; minimization; model uncertainty; robust path tracking control; sensor noise; Aerospace industry; H infinity control; Industrial control; Manipulator dynamics; Manufacturing industries; Robot control; Robot sensing systems; Robust control; Service robots; Uncertainty;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269904
