Robust Output Regulation for a Planar Two-Link Robotic Manipulator

Authors

  • 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.

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Published

2022-10-19

Issue

Vol. 3 No. 1 (2022): CBA2022

Section

Articles