Abstract
This study is concerned with the positioning and vibration control of two-link-flexible-arm using Gain-scheduled H∞control theory based on LMI (Linear Matrix Inequality). It is necessary to control the vibration of the arm tip, because, the link part of robot is elasticity body. And, the robot arm has strong non-linearity by attitude change with turn operation. From these two problems, tip vibration of the arm, and the change of the dynamical system, it is difficult to obtain a satisfactory performance, even if the robot arm is controlled using LTI controller which is designed for one of all states. Then, Gain-scheduled H∞controller is designed, to obtain a satisfactory control performance of the positioning accuracy and tip vibration in range of motion. The validity of this proposal is experimentally verified using the above mentioned test rig.
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