混合H_2/H_∞制御に基づく非線形時変システムの一制御手法 : 2自由度マニピュレータの位置と力の制御

概要

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Dynamics of multi-link manipulators are highly nonlinear and depend on the time varying configuration. This paper presents a method of gain scheduling which consists in designing an linear time invariant (LTI) controller for each operating point and in switching controller when the operating conditions change. Each LTI controller is designed based on LMI approach in which an optimization problem is defined as a mixed H_2/H_∞ control problem with pole placement. The performances of the force and the position controls are defined by the H_2 norm, and the robust stability according to gain scheduling is evaluated with the H_∞ norm and the pole placement of the closed-loop system. The effectiveness and the practicability of the proposed method are verified by both simulations and experiments with 2-link manipulator system.
一般社団法人日本機械学会の論文
1998-10-25