|Mehdi shaterian |
Nonlinear H ∞ Controller Synthesis For Flexible Joint Robots
In this thesis, the synthesis of a nonlinear H ∞ controller for flexible joint robot (FJR) has been studied in detail, and the effectiveness of the presented control law is evaluated through simulations. The problem of disturbance attenuation and insensitivity of the performance to the parameter deviations is addressed, respectively by a systematic nonlinear H ∞ control synthesis, considering uncertain nonlinear model for the system. Simulation comparisons show that the nonlinear H ∞ controller yields to superior performance such as larger domain of attraction and smaller control effort, compared to that of the linear H ∞ controller. Moreover, with the proposed controller the total performance of the closed loop system is illustrated to be superior to that of previous controllers, despite smaller control effort needed in here.