H2, H∞ and H2/H∞ controls applied to an underactuated manipulator robot
Full text
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| Author(s): |
Paulo Hiroaqui Ruiz Nakashima
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) |
| Defense date: | 2001-07-06 |
| Examining board members: |
Marco Henrique Terra;
Aluízio Fausto Ribeiro Araújo;
Pedro Luis Dias Peres
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| Advisor: | Marco Henrique Terra |
| Abstract | |
This work presents the application results of three control techniques used for the control design and implementation of a serial planar underactuated manipulator with three joints and rigid links, designed and built by the Carnegie Mellon University, USA. Due to the high non-linearity degree of this system, it would be very difficult to implement an H2, H∞ or H2/ H∞ control which would actuate on the system by itself. Therefore, it is proposed a combined control method: computed torque/ H2, H∞ or H2/H∞. In the combined control, the portion corresponding to the computed torque linearizes and pre-compensates the dynamics of the nominal model, while the portion corresponding to the H2, H∞ or H2/H∞ control realizes a pos-compensation of the residual errors, not completely removed by the computed torque method. Trajetory tracking and robustness tests are performed here to demonstrate the efficiency of these controllers, with very satisfatory implementation results. (AU) | |