Output Feedback H Infinity Optimal Control of Macro-Micro-Flexible Link Manipulators

Nahid Soltani; Aref Shahmansoorian

In this paper, H∞ optimal control of a 3-link macro-micro manipulator whose the first link is flexible is studied. It is supposed that the robot is subject to measure-ment noises and unknown coulomb and viscous frictions. The main contribution of the paper is to consider the flexible modes of the robot as sources of uncertainties while only the positions of the joints are measurable. Hence, by minimize-tion of the effects of these sources of uncertainties on a regu-lated output, achieving a desired H∞ performance is guaran-teed for the robot. Simulation results for a 3-link macro-micro flexible link manipulator confirm the efficiency of the proposed approach.

Select Volume / Issues:

• Volume 6 Issue 2, Mar. 2015

Year:

2015

Type of Publication:

Article

Keywords:

H Optimal Control; Flexible Link; Macro-Micro; Manipulator; Tracking

Journal:

IJECCE

Volume:

6

Number:

2

Pages:

271-276

Month:

March