Robust control and optimal analysis of a customized robotic arm with H2 and H∞ compensators

Author

Qaisar, Tayyaba ; Mahmood, A.

Author_Institution

Dept. of Electr. Eng., Bahria Univ., Islamabad, Pakistan

fYear

2014

Firstpage

428

Lastpage

433

Abstract

In the field of robotics, design and control of robotic limbs is contributing towards the development and study of robots which can closely mimic human motions. In this paper, robust control of a customized robotic Gripper Arm is discussed. Stability analysis in the presence of uncertainties is carried out on a model of the Gripper, with and without the integration of H₂ and H_∞ compensators. The results suggest the advantage of utilizing the said compensators on the system stability, a comparison of the two techniques is also made and an optimal compensator is discussed for each model.

Keywords

H^∞ control; H² control; compensation; control system synthesis; grippers; manipulators; robust control; uncertain systems; H_∞ compensators; H₂ compensators; customized robotic arm; customized robotic gripper arm; human motions; optimal analysis; optimal compensator; robotic limbs control; robotic limbs design; robust control; stability analysis; system stability; uncertainties; Gain; Grippers; Mathematical model; Robots; Robustness; Stability analysis; Uncertainty; Bond Graph; H-infinity compensator; H2 compensator; Optimal Controller; Robotic gripper arm; Robotics and control; Robust Controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Multi-Topic Conference (INMIC), 2014 IEEE 17th International

Print_ISBN

978-1-4799-5754-5

Type

conf

DOI

10.1109/INMIC.2014.7097378

Filename

7097378