Robust regulation of a flexible joint robot manipulator using singular perturbation approach

被引：0
|
作者：
Amjadifard, R [1 ]
Beheshti, MTH [1 ]
Yazdanpanah, MJ [1 ]
Momeni, HR [1 ]
机构：
[1] Tarbiat Modarres Univ, Fac Engn, Dept Elect Engn, Tehran, Iran
来源：
CCCT 2003, VOL 4, PROCEEDINGS: COMPUTER, COMMUNICATION AND CONTROL TECHNOLOGIES: I | 2003年
关键词：
singularly perturbed systems; robust control; H-infinity controller;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Robot manipulators can be modeled with a class of nonlinear systems. In this paper, we consider a class of nonlinear singularly perturbed systems, which are affine in fast states and inputs. First, using normal form equations, we eliminate the nonlinear part of the system matrix of equations of the reduced system and transform it to a linear diagonal form and design an H,, controller for a system with a lower order than the original one. The composite controller that is applied to the original singularly perturbed system, consists of this H. controller and a controller that is designed for the fast subsystem. The proposed method is applied to a single link flexible joint robot manipulator.
引用
收藏
页码：364 / 368
页数：5
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