COBEM99

S5 Controle Ativo de Vibrações e Estruturas Inteligentes

Title:

H-INFINITE CONTROL OF A ROBOTIC MANIPULATOR WITH A FLEXIBLE LINK

Summary :

THIS PAPER FOCUSES A H-INFINITE ROBUST CONTROLLER DESIGN FOR A ONE-LINK FLEXIBLE ROBOTIC MANIPULATOR. THE GOAL IS TO MOVE THE MANIPULATOR SUPPRESSING THE VIBRATION THE MOTION PRODUCES AS WELL AS THOSE PRODUCED FOR EXTERNAL DISTURBANCES. THIS PARTICULAR CONTROL PROBLEM PRESENTS SOME CHARACTERISTICS WHICH ARE CRITICAL FOR THE CLOSED-LOOP STABILITY. THE RESIDUAL DYNAMICS, WHICH IS NOT REPRESENTED IN THE PLANT MODEL FOR CONTROLLER DESIGN, IS TAKEN IN ACCOUNT IN ORDER TO AVOID STABILITY (SPILLOVER) PROBLEMS. THE H-INFINITE METHOD IS UTILIZED IN THE DESIGN TO COPE WITH THESE PROBLEMS. ROBUSTNESS IS GUARANTEED INCLUDING IN THE DESIGN A NON-STRUCTURED UNCERTAINTY MODEL, AN UPPER BOUND TO THE RESIDUAL PART OF THE SYSTEM. IN THIS WAY, THE SYSTEM IS PARTITIONED IN THE MODAL FORM AND IS REPRESENTED AS A MODEL IN THE ADDITIVE FORM. THE CONTROLLER DESIGN SPECIFICATIONS REQUIRE THE SYSTEM TO TRACK A REFERENCE AS WELL AS TO SUPPRESS THE BENDING DUE TO THE FIRST MODE, BESIDE PRESENTING ROBUSTNESS CHARACTERISTICS IN RESPECT TO THE HIGHER, NON-MODELED MODES. THE CONTROLLER SO OBTAINED WAS SIMULATED IN ORDER TO CHECK FOR PERFORMANCE AND ROBUSTNESS CHARACTERISTICS. KEY WORDS: H-INFINITE CONTROLLER DESIGN; FLEXIBLE ROBOTS; ROBUST CONTROL; VIBRATION SUPPRESSION

Author :

Adade Filho, Alberto 0
Góes, Luiz Carlos Sandoval
Moreira, Fernando J. O.

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