Title :
Discontinuous H∞-control of mechanical manipulators with frictional joints
Author :
Montano, O.E. ; Orlov, Y.
Author_Institution :
Dept. of Electron. & Telecommun., Mexican Sci. Res. & Adv. Studies Center of Ensenada, San Diego, CA, USA
Abstract :
Nonlinear H∞ -controller synthesis is developed for discontinuous time-varying systems via measurement feedback. Theoretical results are applied to a position tracking control problem for mechanical systems with friction. The friction model chosen for treatment is confined to the Coulomb model augmented with viscous friction. Performance issues of the nonlinear H∞-tracking controller are first illustrated in a numerical simulation and then are supported by an experimental study made for a three degrees-of-freedom robot manipulator.
Keywords :
H∞ control; control system synthesis; couplings; friction; manipulators; nonlinear control systems; numerical analysis; position control; sampled data systems; time-varying systems; Coulomb model; discontinuous H∞-control; discontinuous time-varying systems; friction model; frictional joints; measurement feedback; mechanical manipulators; mechanical systems; nonlinear H∞-tracking controller; numerical simulation; position tracking control problem; three degrees-of-freedom robot manipulator; viscous friction; Dynamics; Friction; Manipulator dynamics; Mathematical model; Trajectory; Discontinuous H∞-control; friction; mechanical manipulator; tracking control synthesis;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4673-2170-9
DOI :
10.1109/ICEEE.2012.6421187
