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COBEM 2019
25th International Congress of Mechanical Engineering
ROBUST $H_{\infty}$ COMPUTED TORQUE CONTROL OF ROBOT MANIPULATORS
Submission Author:
Fabian Andres Lara-Molina , MG , Brazil
Co-Authors:
Fabian Andres Lara-Molina, Edson Hideki Koroishi, Aldemir Ap Cavalini Jr, Valder Steffen Jr
Presenter: Fabian Andres Lara-Molina
doi://10.26678/ABCM.COBEM2019.COB2019-0050
Abstract
This paper proposes the synthesis and the application of a robust control technique in a manipulator. This control technique is based on LMIs (Linear Matrix Inequalities) to minimize the $\mathcal{H}_\infty$ norm by taking into account the uncertain parameters. The control strategy is based on the computed torque control scheme. The numerical results show the benefits of the robustified control strategy in the dynamical performance regarding tracking accuracy, disturbance rejection, and uncertain parameters.
Keywords
robot control, robust control, manipulator, uncertainty, Computed torque control
