Title :
H∞ control of a SCARA robot using polytopic LPV approach
Author :
Ali, H. Souley ; Boutat-Baddas, L. ; Becis-Aubry, Y. ; Darouach, M.
Author_Institution :
Centre de Recherche en Automatique de Nancy
Abstract :
This paper investigates the H∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements
Keywords :
Hinfin control; control system synthesis; linear matrix inequalities; linear systems; manipulators; pole assignment; robust control; state feedback; Hinfin control; LMI; Lagrangian equation; SCARA robot manipulator; pole placement; polytopic linear parameter varying representation; robust design; state feedback controller design; Control systems; Equations; Filters; H infinity control; Manipulators; Nonlinear control systems; Nonlinear systems; Robot control; Robust control; State feedback; Controller design; Hinfinity optimization; LMI; LPV system; Polytopic representation; Robust design; SCARA robot manipulator; pole placement;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328836
