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PID feedback for mixed H2／H∞ tracking control of robotic manipulators 被引量：1

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摘要 The design objective of a mixed H2/H∞ control is to find the H2 optimal control law trader aprescribed disturbance attenuation level. This paper addresses a optimal PID control law on the basis of the newsolution to mixed H2/H∞ optimal control problem that provide much more flexible design compared to the existing works. Then a closed-form PID controller to mixed H2/H∞ robotic tracking problem is simply constructed and hence the design procedure is presented. Finally, numerical simulations illustrate the effectiveness of the optimal PID feedback design proposed in this paper via a two-link robotic manipulator.
作者 HuangChunqing ShiSongjiao
机构地区 DepartmentofAutomation
出处 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2004年第4期579-585,共7页 系统工程与电子技术（英文版）
关键词 PID 反馈 跟踪控制 机器人
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TP273 [自动化与计算机技术—检测技术与自动化装置]
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参考文献17

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同被引文献7

  • 1陈超.旋转型行波超声电机理论模型的研究[D].南京:南京航空航天大学,2005.
  • 2Flueckiger M, Bullo M, Perriard Y. Sensorless Speed Control of Traveling Wave Ultrasonic Motor [C].// IEEE Industry Applications Conference. Tampa, Flori- da: IEEE, 2006 : 2488-2495.
  • 3Senjyu T, Nakamura M, Urasaki N, et al. Mathe matical Model of Ultrasonic Motors for Speed Control[C]//Applied Power Electronics Conference and Exposition. New York: IEEE, 2006 : 290-295.
  • 4Juang P A, Gu D W. Speed Control of a New Disc-type Ultrasonic Motor by Using Current Controller[J].IEEE Transactions on Power Electronics, 2006, 21(1) :219-224.
  • 5Park J H,Yim J. Nonlinear H∞ Control of Robotic Manipulator [C]//Proceedings of IEEE Conference on Systems, Man and Cybernrtics, Sandiego, California: IEEE, 1999 : 866-871.
  • 6Park J H, Chung W Y. Design of a Robust H∞ Control for Industrial Manipulators[J].Journal of Dynamic Systems, Measurement and Control, 2000, 122(4) : 803-812.
  • 7Yim J G, Yeon J S, Lee J, et al. Robust Control of Flexible Robot Manipulators [C]//SICE - ICASE International Joint Conference, Busan Kerea : SICE, 2006 :3963-3968.

引证文献1

二级引证文献1

Journal of Systems Engineering and Electronics
2004年 第4期

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