H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator

Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Mohd Riduwan, Ghazali and Mohd Anwar, Zawawi and L. H., Shah (2012) H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator. Research Journal of Applied Sciences, 7 (5). pp. 275-281. ISSN 1815-932X. (Published)

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Abstract

This study presents investigations into the development of H-infinity controller with LMI region schemes for trajectory tracking and vibration control of a Flexible Robot Manipulator System. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. H-infinity synthesis with pole clustering schemes is used to control the hub angle with very minimal vibration at the end-point of the manipulator. The performance of the flexible robot manipulator system is examined in terms of time response specifications of hub angle, minimal vibration at the end-point of the manipulator and minimal control input torque. To examine the effectiveness of the proposed controller, it is compared with hybrid input shaping with collocated PD controller schemes. The implementation results show that H-infinity controller with confined closed-loop poles based on LMI region produce a fast tracking capability with very minimal end-point vibration and smooth control input torque.

Item Type:	Article
Additional Information:	*Please click to Official URL
Uncontrolled Keywords:	Flexible Robot Manipulator System;Vibration Control; Trajactory Tracking; H-infinity; LMI Region
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical & Electronic Engineering
Depositing User:	Dr Mohd Ashraf Ahmad
Date Deposited:	05 Nov 2012 03:14
Last Modified:	08 Feb 2018 04:26
URI:	http://umpir.ump.edu.my/id/eprint/2919
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