Title :
ℋ∞ state feedback LPV control of a SCARA robot
Author :
Souley Ali, H. ; Darouach, M. ; Boutat-Baddas, L. ; Becis-Aubry, Y.
Author_Institution :
Centre de Rech. en Autom. de Nancy, Nancy-Univ., Nancy, France
Abstract :
This paper is dedicated to the ℋ∞ control of a SCARA robot represented by a Linear Parameter Varying (LPV) model. From a usual nonlinear Lagragian equation of the system, its LPV representation is obtained by using a Jacobian linearization. Then a new method based on the choice of a particular Lyapunov matrix permits to design a ℋ∞ constant state feedback controller for the robotic LPV system via LMI.
Keywords :
H∞ control; Jacobian matrices; Lyapunov methods; control system synthesis; linear matrix inequalities; linear systems; manipulators; state feedback; ℋ∞ state feedback controller design; Jacobian linearization; LMI; LPV control; Lyapunov matrix; SCARA robot manipulator; linear parameter varying model; nonlinear Lagragian equation; Computational modeling; Jacobian matrices; Manipulators; Mathematical model; State feedback; Vectors; H-infinity optimization; LMI; LPV system; Linearization; Nonlinear system; SCARA robot manipulator; State feedback controller;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
