Robust H<inf>∞</inf> Control of Robotic System with Parametric Uncertainties based on LMI Pole Placement

摘要

This paper proposes a robust pole placement technique based on Linear Matrix Inequality (LMI) regions for nonlinear robotic system with parametric uncertainties. The proposed technique comprises: (i) feedback linearization control law in an inner loop, and (ii) pole placement via LMI regions mixed with LPV H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control in an outer loop. The nominal feedback linearization is applied to the robotic system in order to optain a linear system with additive nonlinear perturbation terms that can be approximated by Taylor series expansion. The worst-case linearized robotic system is now in the form of LPV systems. After that, the pole placement via LMI regions mixed with LPV H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control is designed in an outer loop. The results show that responses and performance under the proposed method are satisfactory.