基于多面体LPV方法的SCARA机器人H∞控制

2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI:10.1109/MED.2006.328836

H. S. Ali, L. Boutat-Baddas, Y. Becis-Aubry, M. Darouach

{"title":"基于多面体LPV方法的SCARA机器人H∞控制","authors":"H. S. Ali, L. Boutat-Baddas, Y. Becis-Aubry, M. Darouach","doi":"10.1109/MED.2006.328836","DOIUrl":null,"url":null,"abstract":"This paper investigates the H∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"H∞ control of a SCARA robot using polytopic LPV approach\",\"authors\":\"H. S. Ali, L. Boutat-Baddas, Y. Becis-Aubry, M. Darouach\",\"doi\":\"10.1109/MED.2006.328836\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper investigates the H∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements\",\"PeriodicalId\":347035,\"journal\":{\"name\":\"2006 14th Mediterranean Conference on Control and Automation\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2006-06-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2006 14th Mediterranean Conference on Control and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2006.328836\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 14th Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2006.328836","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 15

摘要

研究了机器人系统的H∞控制，该控制具有线性参数变表示。从系统的一般拉格朗日方程出发，给出了系统的LPV表示，并将其简化为多面体。然后利用多面体LPV - H∞方法的最新进展，设计了机器人系统的状态反馈控制器。该方法被扩展到考虑杆位要求

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

H∞ control of a SCARA robot using polytopic LPV approach

This paper investigates the H∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2006 14th Mediterranean Conference on Control and Automation

自引率

0.00%

发文量