• DocumentCode
    1893778
  • 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
  • fYear
    2006
  • fDate
    28-30 June 2006
  • Firstpage
    1
  • Lastpage
    5
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/MED.2006.328836
  • Filename
    4124995
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1893778