• DocumentCode
    1695731
  • Title

    Underactuated manipulator robot control via linear matrix inequalities

  • Author

    Terra, Marco Henrique ; Siqueira, Adriano A G ; Bergerman, Marcel

  • Author_Institution
    Dept. of Electr. Eng., EESC/USP, Sao Carlos, Brazil
  • Volume
    4
  • fYear
    1999
  • fDate
    6/21/1905 12:00:00 AM
  • Firstpage
    3416
  • Abstract
    Robust control design of underactuated manipulator robot with three joints is considered. The controller with guaranteed cost is applied via LMIs. This control strategy is compared with a known PID control for different structures of the underactuated robot. A simulator was developed for the robot simulation and is a powerful tool for analyses and for an appropriated robotics course
  • Keywords
    control system synthesis; manipulators; matrix algebra; robust control; PID control; guaranteed cost controller; linear matrix inequalities; robust control design; underactuated manipulator; Costs; Equations; Linear matrix inequalities; Manipulator dynamics; Robot control; Robotics and automation; Robust control; Sliding mode control; Symmetric matrices; Three-term control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
  • Conference_Location
    Phoenix, AZ
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-5250-5
  • Type

    conf

  • DOI
    10.1109/CDC.1999.827806
  • Filename
    827806
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1695731