Title :
Tracking control of flexible manipulators via an LMI approach
Author :
Amato, F. ; Celentano, G. ; Iervolino, R.
Author_Institution :
Dipt. di Inf. e Sistemistica, Univ. degli Studi di Napoli Federico II, Italy
Abstract :
We consider the tracking problem for a robotic manipulator. First, we propose an approach which allows one to place the problem of designing an optimal control law for a rigid manipulator in the context of linear matrix inequalities (LMIs) optimization; this permits one to include in the synthesis of the control law and constraints concerning the control amplitude. Then we consider flexible links manipulators, showing how the synthesis of the controller has to be modified in order to obtain good performances in presence of flexible elements
Keywords :
control system synthesis; convergence; flexible manipulators; manipulator dynamics; matrix algebra; optimal control; optimisation; state-space methods; tracking; variable structure systems; constraints; control synthesis; convergence; flexible link manipulators; linear matrix inequality; optimal control; optimisation; sliding mode control; state space; tracking control; Constraint optimization; Control systems; Convergence; Ear; Error correction; Linear matrix inequalities; Manipulators; Optimal control; Sliding mode control; Strain control;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721562
