NDLI: Nonlinear H/sub /spl infin//-tracking control of friction mechanical manipulators

Content Provider	IEEE Xplore Digital Library
Author	Aguilar, L. Orlov, Y. Acho, L.
Copyright Year	2002
Description	Author affiliation: Dept. of Electron. & Telecommun., Mexican Sci. Res. & Adv. Studies Center, Ensenada, Mexico (Aguilar, L.; Orlov, Y.)
Abstract	Nonlinear H/sub /spl infin//-controller synthesis is developed for position tracking control of friction mechanical manipulators. To facilitate exposition, the friction model chosen for the treatment is confined to the Dahl model augmented with viscous friction. A local solution is derived by means of a certain perturbation of the differential Riccati equations, appearing in solving the H/sub /spl infin//-control problem for the linearized system, when these unperturbed equations have bounded positive semidefinite solutions. Stabilizability and detectability properties of the control system are thus ensured by the existence of the proper solutions of the unperturbed differential Riccati equations, and hence the proposed synthesis procedure obviates an extra work on verification of these properties. Performance issues of the nonlinear H/sub /spl infin//-tracking controller are illustrated in a simulation study made for a two degrees-of-freedom robot manipulator.
Sponsorship	American Autom. Control Council IFAC SICE
Starting Page	268
Ending Page	273
File Size	330998
Page Count	6
File Format	PDF
ISBN	0780372980
ISSN	07431619
DOI	10.1109/ACC.2002.1024815
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Friction Riccati equations Manipulator dynamics Nonlinear equations Control system synthesis Nonlinear dynamical systems Telecommunication control Nonlinear control systems Robust control Motion control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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