Robust Output Regulation for a Planar Two-Link Robotic Manipulator

Eduardo S. Saraiva; Aurélio T. Salton; Jeferson V. Flores; Rafael S. Castro

doi:10.20906/CBA2022/3615

Eduardo S. Saraiva Faculdade de Engenharia Elétrica, Universidade Federal do Rio Grande do Sul, RS
Aurélio T. Salton Faculdade de Engenharia Elétrica, Universidade Federal do Rio Grande do Sul, RS
Jeferson V. Flores Faculdade de Engenharia Elétrica, Universidade Federal do Rio Grande do Sul, RS
Rafael S. Castro Escola Politécnica, Pontifícia Universidade Católica do Rio Grande do Sul, RS

DOI: https://doi.org/10.20906/CBA2022/3615

Keywords: Output Regulation, Internal Model, Linear Matrix Inequalities, Differential-Algebraic Representation

Abstract

This paper deals with the problem of robust output regulation of planar two degrees of freedom robotic manipulators. An internal model controller is synthesized by a systematic framework that considers polynomial mappings of the steady-state trajectory. The closed- loop stabilization is guaranteed by using a descriptor differential-algebraic representation of the system. This methodology allows the controller design problem to be cast as a convex optimization problem subject to linear matrix inequalities.