Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study

Siqueira, Adriano A. G.; Terra, Marco H.; Ishihara, J.Y.; Barbeiro, Tácio Luiz S.

doi:10.1590/s1678-58782009000400001

Cited by 6 publications

(2 citation statements)

References 15 publications

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“…178 A H ∞ controller, an integrated H 2 -H ∞ controller, and a μ-synthesis were implemented and compared for controlling a 3-DOF robot in terms of position tracking, in which the μ-synthesis had the best performance, but it requires extra essential computational effort for designing process. 179…”

Section: H ∞ Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Section: H ∞ Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…Although the H∞ control can improve the robustness of the control system, it does not take into account the system's dynamic performance [21,22]. The H2 control method can compensate the deficiency of H∞ control through minimizing the quadratic norm of the transfer function between the input signals and the plant's output signals [23,24]. However, the H2 controller ignores the robustness of the control system [25,26].…”

Section: Introductionmentioning

confidence: 99%

Improving Handling Stability Performance of Four-Wheel Steering Vehicle Based on the H2/H∞ Robust Control

Liu

Chen

et al. 2019

Applied Sciences

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Considering the demand for vehicle stability control and the existence of uncertainties in the four-wheel steering (4WS) system, the mixed H2/H∞ robust control methodology of the 4WS system is proposed. Firstly, the linear 2DOF vehicle model, the nonlinear 8DOF vehicle model, the driver model, and the rear wheel electrohydraulic system model were constructed. Secondly, based on the yaw rate tracking strategy, the mixed H2/H∞ controller was designed with the optimized weighting functions to guarantee system performance, robustness, and the robust stability of the 4WS vehicle stability control system. The H∞ method was applied to minimize the effects of modeling uncertainties, sensor noise, and external disturbances on the system outputs, and the H2 method was used to ensure system performance. Finally, numerical simulations based on Matlab/Simulink and hardware-in-the-loop experiments were performed with the proposed control strategy to identify its performance. The simulation and experimental results indicate that the handling stability of the 4WS vehicle is improved by the H2/H∞ controller and that the 4WS system with the H2/H∞ controller has better handling stability and robustness than those of the H∞ controller and the proportional controller.

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Robust control of two link rigid manipulator with nonlinear dynamic model

Hasnaa

Mohammed

2017

2017 International Conference on Electrical and Information Technologies (ICEIT)

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Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study

Cited by 6 publications

References 15 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Improving Handling Stability Performance of Four-Wheel Steering Vehicle Based on the H2/H∞ Robust Control

Robust control of two link rigid manipulator with nonlinear dynamic model

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