Paper Info
Title
Output Feedback Nonlinear H-Infinity-Tracking Control Of A Nonminimum-Phase 2-Dof Underactuated Mechanical System
Abstract
Nonlinear H-infinity synthesis is developed to solve the tracking control problem restricted to a two degrees-of-freedom (DOF) underactuated mechanical manipulator where position measurements are the only available information for feedback. A local H-infinity controller is derived by means of a certain perturbation of the differential Riccati equations, appearing in solving the H-infinity control problem for the linearized system. 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 verification work of these properties. Due to the nature of the approach, the resulting controller additionally yields the desired robustness properties against unknown but bounded external disturbances. The desired trajectory is centered at the upright position where the manipulator becomes a nonminimum-phase system. Simulation results made for a double pendulum show the effectiveness of the proposed controller. Copyright (C) 2009 Luis T. Aguilar.
Year
DOI
Venue
2009
10.1155/2009/718728
JOURNAL OF ROBOTICS
DocType
Volume
ISSN
Journal
2009
1687-9600
Citations 
PageRank 
References 
0
0.34
7
Authors
1
Name
Order
Citations
PageRank
Luis T. Aguilar12209.09