H∞-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator
2014 (English)In: Proceedings of the 19th IFAC World Congress, 2014 / [ed] Boje, Edward and Xia, Xiaohua, International Federation of Automatic Control , 2014, 210-216 p.Conference paper (Refereed)
Control of a flexible joint of an industrial manipulator using H∞ design methods is presented. The considered design methods are i) mixed-H∞ design, and ii) H∞ loop shaping design. Two different controller configurations are examined: one uses only the actuator position, while the other uses the actuator position and the acceleration of end-effector. The four resulting controllers are compared to a standard PID controller where only the actuator position is measured. The choices of the weighting functions are discussed in details. For the loop shaping design method, the acceleration measurement is required to improve the performance compared to the PID controller. For the mixed-H∞ method it is enough to have only the actuator position to get an improved performance. Model order reduction of the controllers is briefly discussed, which is important for implementation of the controllers in the robot control system.
Place, publisher, year, edition, pages
International Federation of Automatic Control , 2014. 210-216 p.
, World Congress, ISSN 1474-6670 ; Volume# 19, Part# 1
Robotics, Flexible, H-infinity control, Accelerometers
IdentifiersURN: urn:nbn:se:liu:diva-104785DOI: 10.3182/20140824-6-ZA-1003.00143ISBN: 978-3-902823-62-5OAI: oai:DiVA.org:liu-104785DiVA: diva2:699043
19th IFAC World Congress, August 24-29, Cape Town, South Africa
ProjectsVinnova Excellence Center LINK-SICExcellence Center at Linköping-Lund in Information Technology, ELLIIT
FunderVinnovaeLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications