Modeling and Preview <inline-formula> <tex-math notation="LaTeX">$H_\infty$</tex-math> </inline-formula> Control Design for Motion Control of Elastic-Joint Robots With Uncertainties

Real-Time Implementation of Sliding Mode Control Technique for Two-DOF Industrial Robotic Arm

“…Accurate trajectory control is a vital issue for the efficient operation of a given robotic application. For this reason, a large number of control methods have been applied in the literature for various types of robotic systems, such as, H infinity control (Makarov et al, 2016), neural network control (Li et al, 2017;Zhang et al, 2018), adaptive fuzzy control (Li et al, 2013;Chu et al, 2014) and fractional order control (Monje et al, 2007;Efe et al, 2008;Nikdel et al, 2016). Among the above mentioned control techniques, the sliding mode controller is an effective and robust control technique and is a variable structure for the unknown dynamics of unknown loads and nonlinear systems in the system.…”

Discrete-Time Robust Control With an Anticipative Action for Preview Systems

“…Nevertheless, only a few number of research articles have attempted to deal with the problem of robust anticipative control. In [19] an anticipative control problem is considered in the context of motion control of robots. The proposed solution is also based on the H ∞ design methodology.…”

Output feedback preview control for polytopic uncertain discrete‐time systems with time‐varying delay

“…However, a number of preview control methods have been reported based on H 2 and H ∞ criteria that consider the unknown disturbances in order to design control systems with better performance measures. [29][30][31][32] On the other hand, model uncertainty often occurs in preview control systems and may lead to unsatisfactory performance or even instability of dynamic systems. To improve the tracking quality and performance of the system, the research on preview control has considered solutions that employ other control theories; for example, game theory was utilized by Cohen and Shaked 33 to design a robust preview controller for systems with norm-bounded uncertainty.…”

“…To improve the tracking quality and performance of the system, the research on preview control has considered solutions that employ other control theories; for example, game theory was utilized by Cohen and Shaked 33 to design a robust preview controller for systems with norm-bounded uncertainty. To overcome the difficulty that the Riccati-based approach [29][30][31][32][33] is not applicable to polytopic uncertain systems, Li and Liao, 34 Takaba, 35 and Paulino et al 36 formulated the preview control design problems as LMI problems. A thorough literature review on the output feedback preview control problems for polytopic uncertain systems with a time-varying delay has revealed that, to date, the static output preview controller design problems for polytopic uncertain systems with a time-varying delay have not been considered based on the augmented error approach and LMI technique.…”

“…To overcome this difficulty, the time-varying term is eliminated by using the two-term approximation method. Furthermore, in order to overcome the limitations of the Riccati-based approach in other works [29][30][31][32][33] described above, the LMI-based conditions to ensure the stability of the closed-loop system are derived, and the preview controller design is given by combining a parameter-dependent approach and the LMI technique. In particular, it allows the uncertain output matrix of the considered linear system to be noncommon and to have uncertainties in the convex static output feedback control synthesis conditions.…”