H-Infinity Control of a 3-DOF RRR Spatial Serial Mechanism

Isabella Stevani¹; André Garnier Coutinho¹; Diego Colón¹; Tarcísio A. Hess-Coelho¹

¹ Universidade de São Paulo

Baixar PDF doi:10.20906/CPS/CBA2018-0458

Resumo

The usage of serial manipulators in industry is very common, mostly for repetition tasks. Their dynamic models are nonlinear and usually involve uncertainties due to dynamic modeling error, dynamic parameter variation, unmodeled dynamics and unknown disturbances. To control this type of system, a combination of a feedback linearization algorithm and a H-Infinity robust control method is proposed. Simulations have been performed to evaluate the control system robustness against model uncertainties.

Palavras-chave: H-Infinity Control; Feedback Linearization; Serial Mechanism; Nonlinear Control; Robust Control