Synchronising H∞ robust distributed controller for multi-robotic manipulators
Synchronising H∞ robust distributed controller for multi-robotic manipulators
- Neue Suche nach: Farnam, Arash
- Neue Suche nach: Crevecoeur, Guillaume
- Neue Suche nach: Farnam, Arash
- Neue Suche nach: Crevecoeur, Guillaume
In this paper the problem of synchronisation of multiple robotic manipulators using Hoo robust distributed control systems with respect to the parameter uncertainties and disturbance inputs acting on the manipulators is addressed. Robust synchronising controllers only use the information of outputs of the manipulators, and the corresponding parameters of these output-feedback controllers are designed by computing a series of linear matrix inequalities instead of solving the complex differential (e.g. Hamilton-Jacobi) (in)equalities. The proposed controller can guarantee H∞ robust performance with respect to the external disturbance inputs and parameters uncertainties, asymptotic stability and synchronisation in the networked manipulators. Using an illustrative example we compare the results extracted in this paper to other works existing in the literature.
Dokumentinformationen
Synchronising H∞ robust distributed controller for multi-robotic manipulators
2020-01-01
IFAC PAPERSONLINE ; ISSN: 2405-8971 ; ISSN: 2405-8963
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
| DDC: | 629 |
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