Output Feedback Nonlinear H∞-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System
Author
Source
Issue
Vol. 2009, Issue 2009 (31 Dec. 2009), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-06-15
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Nonlinear H∞ synthesis is developed to solve the tracking control problem restricted to a two degrees-of-freedom (DOF) underactuated mechanical manipulator where position measurements are the only available information for feedback.
A local H∞ controller is derived by means of a certain perturbation of the differential Riccati equations, appearing in solving the H∞ control problem for the linearized system.
Stabilizability and detectability properties of the control system are thus ensured by the existence of the proper solutions of the unperturbed differential Riccati equations, and hence the proposed synthesis procedure obviates an extra verification work of these properties.
Due to the nature of the approach, the resulting controller additionally yields the desired robustness properties against unknown but bounded external disturbances.
The desired trajectory is centered at the upright position where the manipulator becomes a nonminimum-phase system.
Simulation results made for a double pendulum show the effectiveness of the proposed controller.
American Psychological Association (APA)
Aguilar, Luis T.. 2009. Output Feedback Nonlinear H∞-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System. Journal of Robotics،Vol. 2009, no. 2009, pp.1-10.
https://search.emarefa.net/detail/BIM-493106
Modern Language Association (MLA)
Aguilar, Luis T.. Output Feedback Nonlinear H∞-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System. Journal of Robotics No. 2009 (2009), pp.1-10.
https://search.emarefa.net/detail/BIM-493106
American Medical Association (AMA)
Aguilar, Luis T.. Output Feedback Nonlinear H∞-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System. Journal of Robotics. 2009. Vol. 2009, no. 2009, pp.1-10.
https://search.emarefa.net/detail/BIM-493106
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-493106