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H∞ Synthesis Method...
H∞ Synthesis Method for Control of Non-linear Flexible Joint Models
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- Axelsson, Patrik, 1985- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Pipeleers, Goele (author)
- Katholieke Universiteit, Leuven, Belgium
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- Helmersson, Anders (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Norrlöf, Mikael (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- International Federation of Automatic Control, 2014
- 2014
- English.
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In: Proceedings of the 19th IFAC World Congress, 2014. - : International Federation of Automatic Control. - 9783902823625 ; , s. 8372-8377
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https://liu.diva-por... (primary) (Raw object)
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Abstract
Subject headings
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- An H∞ synthesis method for control of a flexible joint, with non-linear spring characteristic, is proposed. The first step of the synthesis method is to extend the joint model with an uncertainty description of the stiffness parameter. In the second step, a non-linear optimisation problem, based on nominal performance and robust stability requirements, has to be solved. Using the Lyapunov shaping paradigm and a change of variables, the non-linear optimisation problem can be rewritten as a convex, yet conservative, LMI problem. The method is motivated by the assumption that the joint operates in a specific stiffness region of the non-linear spring most of the time, hence the performance requirements are only valid in that region. However, the controller must stabilise the system in all stiffness regions. The method is validated in simulations on a non-linear flexible joint model originating from an industrial robot.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Mechanical systems
- Flexible
- Robust
- H-infinity Control
Publication and Content Type
- ref (subject category)
- kon (subject category)
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