H<sub>∞</sub> control of a SCARA robot using polytopic LPV approach

Abstract

This paper investigates the H<sub>∞</sub> control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H<sub>∞</sub> approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements

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