Title :
Robust control and optimal analysis of a customized robotic arm with H2 and H∞ compensators
Author :
Qaisar, Tayyaba ; Mahmood, A.
Author_Institution :
Dept. of Electr. Eng., Bahria Univ., Islamabad, Pakistan
Abstract :
In the field of robotics, design and control of robotic limbs is contributing towards the development and study of robots which can closely mimic human motions. In this paper, robust control of a customized robotic Gripper Arm is discussed. Stability analysis in the presence of uncertainties is carried out on a model of the Gripper, with and without the integration of H2 and H∞ compensators. The results suggest the advantage of utilizing the said compensators on the system stability, a comparison of the two techniques is also made and an optimal compensator is discussed for each model.
Keywords :
H∞ control; H2 control; compensation; control system synthesis; grippers; manipulators; robust control; uncertain systems; H∞ compensators; H2 compensators; customized robotic arm; customized robotic gripper arm; human motions; optimal analysis; optimal compensator; robotic limbs control; robotic limbs design; robust control; stability analysis; system stability; uncertainties; Gain; Grippers; Mathematical model; Robots; Robustness; Stability analysis; Uncertainty; Bond Graph; H-infinity compensator; H2 compensator; Optimal Controller; Robotic gripper arm; Robotics and control; Robust Controller;
Conference_Titel :
Multi-Topic Conference (INMIC), 2014 IEEE 17th International
Print_ISBN :
978-1-4799-5754-5
DOI :
10.1109/INMIC.2014.7097378
