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Master's Dissertation
DOI
10.11606/D.18.2017.tde-08062017-122423
Document
Author
Full name
Paulo Hiroaqui Ruiz Nakashima
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2001
Supervisor
Committee
Terra, Marco Henrique (President)
Araújo, Aluízio Fausto Ribeiro
Peres, Pedro Luis Dias
Title in Portuguese
Controle H2, H∞ e H2/H∞ aplicados a um robô manipulador subatuado
Keywords in Portuguese
Controle robusto
Robôs manipuladores subatuados
Abstract in Portuguese
Este trabalho apresenta os resultados da aplicação de três técnicas de controle utilizadas no projeto e implementação do controle de um manipulador subatuado planar de três juntas em série e de elos rígidos, projetado e construído pela Universidade Carnegie Mellon, EUA. Devido ao alto grau de não-linearidade deste sistema, seria muito difícil implementar um controlador H2, H∞ ou H2/H∞ que atuasse sozinho. Assim, propõe-se a utilização de um método de controle combinado: torque computado/H2, H∞ ou H2/H∞. No controle combinado, a porção correspondente ao torque computado lineariza e pré-compensa a dinâmica do modelo da planta nominal, enquanto a porção correspondente ao controle H2, H∞ ou H2/H∞ realiza uma pós-compensação dos erros residuais, que não foram completamente eliminados pelo método torque computado. Testes de acompanhamento de trajetória e testes de robustez são realizados aqui para comprovar a eficiência destes controladores, com resultados de implementação bastante satisfatórios.
Title in English
H2, H∞ and H2/H∞ controls applied to an underactuated manipulator robot
Keywords in English
Robust control
Underactuated robot manipulator
Abstract in English
This work presents the application results of three control techniques used for the control design and implementation of a serial planar underactuated manipulator with three joints and rigid links, designed and built by the Carnegie Mellon University, USA. Due to the high non-linearity degree of this system, it would be very difficult to implement an H2, H∞ or H2/ H∞ control which would actuate on the system by itself. Therefore, it is proposed a combined control method: computed torque/ H2, H∞ or H2/H∞. In the combined control, the portion corresponding to the computed torque linearizes and pre-compensates the dynamics of the nominal model, while the portion corresponding to the H2, H∞ or H2/H∞ control realizes a pos-compensation of the residual errors, not completely removed by the computed torque method. Trajetory tracking and robustness tests are performed here to demonstrate the efficiency of these controllers, with very satisfatory implementation results.
 
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Publishing Date
2017-06-08
 
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