H-infinity control of a SCARA robot using polytopic LPV approach

摘要

This paper investigates the H-infinity control of robotic system presenting a Linear Parameter Varying (LPV) representation. From a usual Lagragian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H-infinity approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements.