ROBUST H∞ CONTROL of a 2-DOF GIMBAL

被引：0

作者：

Bujela, Buhle ^{[1
]}

van Wyk, M. A. ^{[1
]}

Stolper, Roel ^{[2
]}

机构：

[1] Univ Witwatersrand, Sch Elect & Informat Engn, Private Bag 3, ZA-2050 Johannesburg, South Africa

[2] CSIR, Mat Sci & Mfg, Pretoria 0001, South Africa

来源：

2012 5TH ROBOTICS AND MECHATRONICS CONFERENCE OF SOUTH AFRICA (ROBOMECH) | 2012年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This document presents a design and implementation of a robust H x, control approach for a PMDC motor driven 2-degree-of-freedom (DOF) gimbal platform. Issues pertaining to model uncertainty of the gimbal are elaborated, and the controller is synthesized and evaluated in MATLAB. It is shown that the controller can be effective in achieving robust stability with a minimum cost function of gamma = 2.6066. Further, research can be performed in future to maintain or increase the performance of the platform in the presence of uncertainty.

引用

页数：6

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