Nonlinear optimization of robust H-infinity controllers for industrial robot manipulators

被引：0
|
作者：
Sage, HG
deMathelin, MF
Abba, G
Gangloff, JA
Ostertag, E
机构：
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 | 1997年
关键词：
robust control; nonlinear optimization; tracking control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the design of a position tracking control scheme for an industrial robot manipulator is considered. The design is based on the normalized left coprime factors robust stabilization approach. By coupling this H-infinity synthesis to a sequential quadratic programming optimization procedure, a systematic design method is developed optimizing the performance of the controller. Further, the role of the nominal model for the design is explored. The control scheme is successfully implemented and tested on areal industrial robot manipulator. The computed controller worked immediately in the first experiment without any further tuning and showed excellent robust performance.
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收藏
页码：2352 / 2357
页数：6
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