H- control of a SCARA robot using polytopic LPV approach

Abstract

This paper investigates the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</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 xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</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