Underactuated Manipulator Robot Control via H2, H∞, H2/H∞, and μ-Synthesis Approaches: a Comparative Study

被引：11

作者：

Siqueira, Adriano A. G. ^{[1
]}

Terra, Marco H. ^{[1
]}

Ishihara, Joao Y. ^{[2
]}

Barbeiro, Tacio L. S. ^{[1
]}

机构：

[1] Univ Sao Paulo, Engn Sch Sao Carlos, Dept Mech Engn, Sao Carlos, SP, Brazil

[2] Univ Brasilia, Dept Elect Engn, Brasilia, DF, Brazil

来源：

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2009年 / 31卷 / 04期

关键词：

manipulator robot; computed torque method; robust control; mu synthesis; H-2; H-infinity; H-2/H-infinity;

D O I：

10.1590/S1678-58782009000400001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper deals with robust control of underactuated manipulator robots. It presents a comparative study of four combined controllers H-2, H-proportional to, H-2/H-proportional to and mu-synthesis, plus computed torque method. These controllers are applied in an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones. The study performed in this paper compares the robustness of each controller when different disturbances are considered.

引用

页码：279 / 288

页数：10

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