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Advanced gain scheduled H ∞ controller for robotic manipulators

Published online by Cambridge University Press:  06 September 2002

Zhongwei Yu,
Huitang Chen and
Peng-Yung Woo
Zhongwei Yu
Affiliation:
Information and Control Engineering Department, Tongji University, Shanghai (P.R. of China)
Huitang Chen
Affiliation:
Information and Control Engineering Department, Tongji University, Shanghai (P.R. of China)
Peng-Yung Woo
Affiliation:
Electrical Engineering Department, Northern Illinois University, Dekalb Il 60115 (USA)
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Summary

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A conservatism-reduced design of a gain scheduled output feedback H ∞ controller for an n-joint rigid robotic manipulator, which integrates the varying-parameter rate without their feedback, is proposed. The robotic system is reduced to a 1inear parameter varying (LPV) form, which depends on the varying-parameter. By using a parameter-dependent Lyapunov function, the design of a controller, which satisfies the closed-loop H ∞ performance, is reduced to a solution of the parameterized linear matrix inequalities (LMIs) of parameter matrices. With a use of the concept of “multi-convexity”, the solution of the infinite LMIs in the varying-parameter and its rate space is reduced to a solution of the finite LMIs for the vertex set. The proposed controller eliminates the feedback of the varying-parameter rate and fixes its upper boundary so that the conservatism of the controller design is reduced. Experimental results verify the effectiveness of the proposed design.

Keywords

Robotic manipulatorGain scheduled output feedbackH ∞ controlReducing conservatismLinear matrix inequality (LMI)

Information

Type
Research Article
Information
Robotica , Volume 20 , Issue 5 , September 2002, pp. 537 - 544
Copyright
Copyright © Cambridge University Press 2002

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