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Robust control using recursive design method for flexible joint robot manipulatorst

Title
Robust control using recursive design method for flexible joint robot manipulatorst
Author
박종현
Keywords
Flexible joint robot manipulator; Robust control; Non-linear H∞-control; Recursive design; Non-linear matrix inequality (NLMI)
Issue Date
2011-12
Publisher
대한기계학회
Citation
Journal of Mechanical Science and Technology, 2011, 25(12), P.3205-3213
Abstract
A flexible joint robot manipulator can be regarded as a cascade of two subsystems: link dynamics and the motor dynamics. Using this structural characteristic, we propose a robust nonlinear recursive control method for flexible manipulators. The recursive design is done in two steps. First, a fictitious robust control for the link dynamics is designed as if it has a direct control input. As the fictitious control, a nonlinear H ∞-control using energy dissipation is designed in the sense of L 2-gain attenuation from the disturbance caused by uncertainties to performance. In the process, Hamilton-Jacobi (HJ) inequality is solved by a more tractable nonlinear matrix inequality (NLMI) method. In the second step, the other fictitious and the actual robust control are designed recursively by using the Lyapunov’s second method. The proposed robust control is applied to a two-link robot manipulator with flexible joints in computer simulations. The simulation results show that the proposed robust control has robustness to the model uncertainty caused by changes in the link inertia and the joint stiffness.
URI
https://link.springer.com/article/10.1007/s12206-011-0822-0http://hdl.handle.net/20.500.11754/66846
ISSN
1738-494X
DOI
10.1007/s12206-011-0822-0
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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