Title :
Robust H∞ control of a 2-DOF gimbal
Author :
Bujela, Buhle ; van Wyk, Michael A. ; Stolper, Roel
Author_Institution :
Sch. of Electr. & Inf. Eng., Univ. of the Witwatersrand, Johannesburg, South Africa
Abstract :
This document presents a design and implementation of a robust H∞ control approach for a PMDC motor driven 2-degree-of-freedom (DOF) gimbal platform. Issues pertaining to model uncertainty of the gimbal are elaborated, and the controller is synthesized and evaluated in MATLAB. It is shown that the controller can be effective in achieving robust stability with a minimum cost function of γ = 2.6066. Further, research can be performed in future to maintain or increase the performance of the platform in the presence of uncertainty.
Keywords :
DC motors; H∞ control; control system synthesis; permanent magnet motors; position control; robust control; uncertain systems; 2-DOF gimbal uncertainty modelling; 2-degree-of-freedom gimbal platform; MATLAB; PMDC motor; cost function; robust H∞ control design; robust stability; DC motors; Mathematical model; Noise; Robustness; Sensitivity; Transfer functions; Uncertainty;
Conference_Titel :
Robotics and Mechatronics Conference of South Africa (ROBOMECH), 2012 5th
Conference_Location :
Gauteng
Print_ISBN :
978-1-4673-5182-9
DOI :
10.1109/ROBOMECH.2012.6558459
