H-INFINITY CONTROL OF A 3-DOF RRR SPATIAL SERIAL MECHANISM

ISABELLA STEVANI; ANDRÉ  GARNIER COUTINHO; DIEGO  COLÓN; TARCÍSIO  A. HESS-COELHO

doi:10.20906/CBA2022/490

ISABELLA STEVANI Universidade de São Paulo
ANDRÉ GARNIER COUTINHO UNIVERSIDADE DE SÃO PAULO
DIEGO COLÓN UNIVERSIDADE DE SÃO PAULO
TARCÍSIO A. HESS-COELHO UNIVERSIDADE DE SÃO PAULO

DOI: https://doi.org/10.20906/CBA2022/490

Keywords: H-infinity control, Feedback linearization, Serial mechanism, Nonlinear control, Robust control

Abstract

The usage of serial manipulators in industry is very common, mostly for repetition tasks. Their
dynamic models are nonlinear and usually involve uncertainties due to dynamic modeling error, dynamic parameter variation, unmodeled dynamics and unknown disturbances. To control this type of system, a combination of a feedback linearization algorithm and a H1 robust control method is proposed. Simulations have been performed to prove the control system robustness against model uncertainties.