DocumentCode
2644937
Title
Robust H∞ control of a 2-DOF gimbal
Author
Bujela, Buhle ; van Wyk, Michael A. ; Stolper, Roel
Author_Institution
Sch. of Electr. & Inf. Eng., Univ. of the Witwatersrand, Johannesburg, South Africa
fYear
2012
fDate
26-27 Nov. 2012
Firstpage
1
Lastpage
6
Abstract
This document presents a design and implementation of a robust H∞ control approach for a PMDC motor driven 2-degree-of-freedom (DOF) gimbal platform. Issues pertaining to model uncertainty of the gimbal are elaborated, and the controller is synthesized and evaluated in MATLAB. It is shown that the controller can be effective in achieving robust stability with a minimum cost function of γ = 2.6066. Further, research can be performed in future to maintain or increase the performance of the platform in the presence of uncertainty.
Keywords
DC motors; H∞ control; control system synthesis; permanent magnet motors; position control; robust control; uncertain systems; 2-DOF gimbal uncertainty modelling; 2-degree-of-freedom gimbal platform; MATLAB; PMDC motor; cost function; robust H∞ control design; robust stability; DC motors; Mathematical model; Noise; Robustness; Sensitivity; Transfer functions; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Mechatronics Conference of South Africa (ROBOMECH), 2012 5th
Conference_Location
Gauteng
Print_ISBN
978-1-4673-5182-9
Type
conf
DOI
10.1109/ROBOMECH.2012.6558459
Filename
6558459
Link To Document