Gain-scheduling H∞ vibration control for SCARA type robot manipulators via LMIs

This paper deals with the application of gain-scheduling H_∞ technique to the vibration control for SCARA type robot manipulators. The dynamics of a multi-link robot manipulator, such as the SCARA type robot manipulator, is of highly nonlinear time-varying property, and this fact makes it difficult for a single linear time-invariant controller to achieve the desired performance. The gain-scheduling H_∞ technique is an extension of standard H_∞ synthesis technique to the case where the plant depends affinely on a time-varying vector δ(t). The controller designed via this new technique is automatically gain-scheduled according to the position of the manipulator and makes the dynamics of the closed-loop system unchanged along the input trajectory. The effectiveness of the proposed controller is demonstrated by simulation