Nonlinear H'INFINITO' control of underactuated robot manipulators

Author(s)

Adriano Almeida Gonçalves Siqueira

• Document type: Doctoral Thesis
• Press: São Paulo. , gráficos, ilustrações, tabelas.
• Institution: Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD)
• Defense date: 2004-07-23

Examining board members

Marco Henrique Terra; Marcel Bergerman; Vitor Ferreira Romano; Joao Mauricio Rosario; Paulo Sergio Pereira da Silva

• Advisor: Marco Henrique Terra
• Field of knowledge: Engineering - Electrical Engineering
• Indexed in: Banco de Dados Bibliográficos da USP-DEDALUS; Biblioteca Digital de Teses e Dissertações - USP
• Location: Universidade de São Paulo. Biblioteca da Escola de Engenharia de São Carlos ; EESC/TESE 5654ch

Abstract

This work presents the development, implementation and analysis of nonlinear H‡ control techniques applied to underactuated manipulators, under parametric uncertainties and external disturbances. At the first part, two approaches are considered for underactuated individual manipulators. The first approach consists in representing manipulators as nonlinear systems in the quasi-linear parameter varying form and in controlling them via H‡ control for linear parameter varying systems based on linear matrix inequalities. At the second approach, an explicit solution to the nonlinear H‡ control problem for manipulators is found via differential game theory. With this procedure, it is also implemented the nonlinear mixed H2/H‡, nonlinear adaptive H‡, and nonlinear adaptive H‡ with neural networks controls. Also is developed a fault tolerant system for manipulators based on Markovian systems and Markovian H2, H‡, and H2/H‡ controls. At the second part, the dynamic model of underactuated cooperative manipulators is represented in the state space form in order to apply the nonlinear H‡ controls to position control, plus the squeeze force control, of an object. (AU)