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

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICEEE.2012.6421187

Filename

6421187