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Paper
Teaching sampled-data H∞ control theory using arm robot experiment system
Article first published online: 22 SEP 2011
DOI: 10.1002/tee.20699
Copyright © 2011 Institute of Electrical Engineers of Japan
Issue
IEEJ Transactions on Electrical and Electronic Engineering
Volume 6, Issue 6, pages 585–593, November 2011
Additional Information
How to Cite
She, J., Xin, X. and Ohyama, Y. (2011), Teaching sampled-data H∞ control theory using arm robot experiment system. IEEJ Trans Elec Electron Eng, 6: 585–593. doi: 10.1002/tee.20699
Publication History
- Issue published online: 17 OCT 2011
- Article first published online: 22 SEP 2011
- Manuscript Revised: 22 FEB 2010
- Manuscript Received: 13 MAR 2009
- Abstract
- Article
- References
- Cited By
Keywords:
- control engineering education;
- sampled-data control;
- arm robot;
- uncertainty;
- robust control;
- linear matrix inequality
Abstract
This paper explains how to use an arm robot experiment system to teach sampled-data H∞ control theory. A design procedure is presented for a digital tracking control system for a continuous plant with structured uncertainties; the target is the positioning control of an arm robot. To guarantee the robust stability of the closed-loop system and provide the desired closed-loop performance, the design problem is first formulated as a sampled-data H∞ control problem, and is then transformed into an equivalent discrete-time H∞ control problem. Finally, linear matrix inequalities are used to obtain a reduced-order output-feedback controller and a static state-feedback controller. In a course, the design procedure is explained and practice is provided through simulations and experiments. © 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.