Robust adaptive nonlinear controller for robotic systems: Linear matrix inequality approach

Itzhack Levy, Nadav Berman, Amit Ailon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper the tracking problem of a robotic system with model uncertainty is considered via an application of the H∞, control theory for nonlinear systems. In particular, we develop a state feedback controller which yields a global exponential stability of the underlying system and provides the closed loop system with relatively low gains. The main ingredient which facilitates our development is the choice of a particular storage function (which serves as a Lyaponov function). This particular storage function leads to certain linear matrix inequalities, the solution of which yields the desired controller. Moreover, the resulting LMIs (Linear Matrix Inequalities) turn out to be of the same form of the LMIs achieved in the analogous linear case. Simulation results and implementation of the control algorithm in a two-degree of freedom robot illustrate the controller efficiency.

Original languageEnglish
Title of host publication2008 Proceedings of the 9th Biennial Conference on Engineering Systems Design and Analysis
Pages485-493
Number of pages9
StatePublished - 21 Sep 2009
Event2008 9th Biennial Conference on Engineering Systems Design and Analysis - Haifa, Israel
Duration: 7 Jul 20089 Jul 2008

Publication series

Name2008 Proceedings of the 9th Biennial Conference on Engineering Systems Design and Analysis
Volume2

Conference

Conference2008 9th Biennial Conference on Engineering Systems Design and Analysis
Country/TerritoryIsrael
CityHaifa
Period7/07/089/07/08

ASJC Scopus subject areas

  • Computational Mechanics
  • Control and Systems Engineering
  • Mechanical Engineering

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