We consider the tracking problem for a robotic manipulator. First, we propose an approach which allows one to place the problem of designing an optimal control law for a rigid manipulator in the context of linear matrix inequalities (LMIs) optimization; this permits one to include in the synthesis of the control law and constraints concerning the control amplitude. Then we consider flexible links manipulators, showing how the synthesis of the controller has to be modified in order to obtain good performances in presence of flexible elements
TRACKING CONTROL OF FLEXIBLE MANIPULATORS VIA AN LMI APPROACH / Amato, F.; Celentano, Giovanni; Iervolino, Raffaele. - ELETTRONICO. - (1998), pp. 766-770. (Intervento presentato al convegno IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS tenutosi a Trieste nel 1-4 Sep) [10.1109/CCA.1998.721562].
TRACKING CONTROL OF FLEXIBLE MANIPULATORS VIA AN LMI APPROACH
AMATO F.;CELENTANO, GIOVANNI;IERVOLINO, RAFFAELE
1998
Abstract
We consider the tracking problem for a robotic manipulator. First, we propose an approach which allows one to place the problem of designing an optimal control law for a rigid manipulator in the context of linear matrix inequalities (LMIs) optimization; this permits one to include in the synthesis of the control law and constraints concerning the control amplitude. Then we consider flexible links manipulators, showing how the synthesis of the controller has to be modified in order to obtain good performances in presence of flexible elementsI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
