Title :
Nonlinear H∞ control via quasi-LPV representation applied in a underactuated manipulator
Author :
Siqueira, Adriano A G ; Terra, Marco H.
Author_Institution :
Univ. de Sao Paulo, Sao Carlos, Brazil
Abstract :
In this paper, the nonlinear H∞ control via quasi-linear parameter varying (quasi-LPV) representation of the nonlinear system is used to control a underactuated robot manipulator. This technique consists in find a solution to a set of linear matrix inequalities (LMI) satisfying the L2 gain generated from the gridding of the state space range. Experimental results obtained from the underactuated robot manipulator UArm II are presented.
Keywords :
H∞ control; manipulators; matrix algebra; nonlinear control systems; state-space methods; time-varying systems; L2 gain; LMI; UArm II; linear matrix inequalities; nonlinear H∞ control; quasi-LPV representation; quasi-linear parameter varying representation; state space range gridding; underactuated robot manipulator; Attenuation; Control systems; Linear matrix inequalities; Manipulators; Mesh generation; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Orbital robotics; State-space methods;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041588
