Robust Control of Two Link Rigid Manipulator
Keywords:
H∞ controller, linear fractional transformation (LFT), µ-synthesis controller, parametric uncertainty, robust control, two link rigid manipulator (TLRM).Abstract
Two Link Rigid Manipulator (TLRM) is highly
unstable and non-linear system thus its stability is a matter of concern. This paper presents Lagrange-Euler method for deriving the dynamics of TLRM. The uncertain model is considered using LFT. Parametric uncertainty in moment of inertia and co-efficient of friction in the TLRM is considered and uncertainty in actuators. Two different robust control strategies, H∞ and µ-synthesis are used and compared. Results
show that µ-synthesis controller has superior robust
performance of the proposed two robust control methods.
Downloads
Downloads
Published
Issue
Section
License
You are free to:
- Share — copy and redistribute the material in any medium or format for any purpose, even commercially.
- Adapt — remix, transform, and build upon the material for any purpose, even commercially.
- The licensor cannot revoke these freedoms as long as you follow the license terms.
Under the following terms:
- Attribution — You must give appropriate credit , provide a link to the license, and indicate if changes were made . You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
- No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
Notices:
You do not have to comply with the license for elements of the material in the public domain or where your use is permitted by an applicable exception or limitation .
No warranties are given. The license may not give you all of the permissions necessary for your intended use. For example, other rights such as publicity, privacy, or moral rights may limit how you use the material.
