New Method for Tuning Robust Controllers Applied to Robot Manipulators

International Journal of Advanced Robotic Systems

关键词: Robust control;    Robustness margin;    Linear Matrix Inequalities (LMI);    Robot manipulators;   

DOI  :  10.5772/53734

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper presents a methodology to select the parameters of a nonlinear controller using Linear Matrix Inequalities (LMI). The controller is applied to a robotic manipulator to improve its robustness. This type of dynamic system enables the robust control law to be applied because it largely depends on the mathematical model of the system; however, in most cases it is impossible to be completely precise. The discrepancy between the dynamic behaviour of the robot and its mathematical model is taken into account by including a nonlinear term that represents the model's uncertainty. The controller's parameters are selected with two purposes: to guarantee the asymptotic stability of the closed-loop system while taking into account the uncertainty, and to increase its robustness margin. The results are validated with numerical simulations for a particular case study; these are then compared with previously published results to prove a better controller performance.

【 授权许可】

CC BY