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Nonlinear ${\mathcal{H}}_{\infty}$ controllers for underactuated cooperative manipulators

Published online by Cambridge University Press:  15 January 2007

A. A. G. Siqueira  and
M. H. Terra
A. A. G. Siqueira
Affiliation:
University of São Paulo at São Carlos, Mechanical Engineering Department, São Carlos, SP 13566-590, Brazil E-mail: siqueira@sc.usp.br
M. H. Terra*
Affiliation:
University of São Paulo at São Carlos, Electrical Engineering Department, São Carlos, SP 13566-590, Brazil
*
*Corresponding author. E-mail: terra@sel.eesc.usp.br
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Summary

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In this paper, two nonlinear $\mathcal{H}_{\infty}$ control techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators $\mathcal{H}_{\infty}$ control problem. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.

Keywords

Nonlinear H∞ controlUnderactuated cooperative manipulators

Information

Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007 , pp. 425 - 432
Copyright
Copyright © Cambridge University Press 2007

References

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