Tracking control of flexible manipulators via an LMI approach

Author

Amato, F. ; Celentano, G. ; Iervolino, R.

Author_Institution

Dipt. di Inf. e Sistemistica, Univ. degli Studi di Napoli Federico II, Italy

Volume

2

fYear

1998

Firstpage

766

Abstract

We consider the tracking problem for a robotic manipulator. First, we propose an approach which allows one to place the problem of designing an optimal control law for a rigid manipulator in the context of linear matrix inequalities (LMIs) optimization; this permits one to include in the synthesis of the control law and constraints concerning the control amplitude. Then we consider flexible links manipulators, showing how the synthesis of the controller has to be modified in order to obtain good performances in presence of flexible elements

Keywords

control system synthesis; convergence; flexible manipulators; manipulator dynamics; matrix algebra; optimal control; optimisation; state-space methods; tracking; variable structure systems; constraints; control synthesis; convergence; flexible link manipulators; linear matrix inequality; optimal control; optimisation; sliding mode control; state space; tracking control; Constraint optimization; Control systems; Convergence; Ear; Error correction; Linear matrix inequalities; Manipulators; Optimal control; Sliding mode control; Strain control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on

Conference_Location

Trieste

Print_ISBN

0-7803-4104-X

Type

conf

DOI

10.1109/CCA.1998.721562

Filename

721562