Title :
Robust control of a robot manipulator using a linear parameter varying representation
Author :
Namerikawa, Toru ; Matsumura, Fumio ; Fujita, Masayuki
Author_Institution :
Dept. of Electr. & Comput. Eng., Kanazawa Univ., Japan
Abstract :
In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi-linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured by the system operation. In this case, the scheduling variables are the joint angles which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification
Keywords :
control system synthesis; flexible structures; linearisation techniques; manipulator dynamics; matrix algebra; robust control; scheduling; state-space methods; μ-synthesis; flexible-joint robot; joint angles; linear parameter varying representation; linear system; linearisation; manipulator dynamics; robust control; scheduling variables; state space matrix; state transformation; DC motors; Ear; Feedback control; Integrated circuit modeling; Manipulator dynamics; Nonlinear dynamical systems; Robots; Robust control; Robustness; Scheduling;
Conference_Titel :
Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
0-7803-3104-4
DOI :
10.1109/ICIT.1996.601637