Abstract
A design method for digital tracking control is described and applied to control an arm robot with structured uncertainties. A two-degree-of-freedom control system configuration provides the desired feedback and input-output performances independently. Regarding controller design, first, sampled-data H∞ control and linear matrix inequality approaches are used to design a reduced-order output feedback controller. Then, the feedforward controller is parameterized based on the feedback controller, with the free parameter being chosen based on a preview strategy.
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