Robust H Controller of a nonlinear unstable system: Robotics wrist
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Date
2017-12-01
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Journal ISSN
Volume Title
Publisher
INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES.Volume 11.pp 273-278
Abstract
The paper presents a new multi-controllers
approach with H control applied to control a manipulator robot
wrist (Staubli RX-90). A brief description of process and linear
mathematical modeling of the process. Principle of multicontrollers approach of control is briefly presented. Our new
proposals concerning the type of the controllers used in the multicontroller approach of control and which are one controller
based on H control for nonlinear system and linear local models
around each operating points. The principal of H control has
been described and finally the simulation results obtained
approve the efficiency of our design control followed by a
conclusion and some perspectives for future work.