Title :
Underactuated manipulator robot control via linear matrix inequalities
Author :
Terra, Marco Henrique ; Siqueira, Adriano A G ; Bergerman, Marcel
Author_Institution :
Dept. of Electr. Eng., EESC/USP, Sao Carlos, Brazil
fDate :
6/21/1905 12:00:00 AM
Abstract :
Robust control design of underactuated manipulator robot with three joints is considered. The controller with guaranteed cost is applied via LMIs. This control strategy is compared with a known PID control for different structures of the underactuated robot. A simulator was developed for the robot simulation and is a powerful tool for analyses and for an appropriated robotics course
Keywords :
control system synthesis; manipulators; matrix algebra; robust control; PID control; guaranteed cost controller; linear matrix inequalities; robust control design; underactuated manipulator; Costs; Equations; Linear matrix inequalities; Manipulator dynamics; Robot control; Robotics and automation; Robust control; Sliding mode control; Symmetric matrices; Three-term control;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827806
