Structured uncertainty modeling, analysis and control of a customized robotic arm

Abstract

The quality of a model is determined by how closely it mimics the true plant. In this paper we have used the model of customized robotic arm, previously designed by the authors. This paper talks about the consequences of structured uncertainties on the robustness of a controller. We have incorporated structured uncertainties into a system of customized robotic gripper arm by using the method of μ-synthesis. Then we have designed H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> Compensator for the uncertain system. For the compensated and uncompensated responses of the system a comparative analysis is made. The results validate the significance of the controller and emphasize the robustness of the designed controller.