H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator

This study presents investigations into the development of H-infinity controller with LMI region schemes for trajectory tracking and vibration control of a Flexible Robot Manipulator System. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is de...

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Main Authors:	Mohd Zaidi, Mohd Tumari, Muhammad Salihin, Saealal, Mohd Riduwan, Ghazali, Mohd Anwar, Zawawi, L. H., Shah
Format:	Article
Language:	English
Published:	MedWell, Journal 2012
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2919/ http://umpir.ump.edu.my/id/eprint/2919/ http://umpir.ump.edu.my/id/eprint/2919/1/275-281.pdf

id	ump-2919
recordtype	eprints
spelling	ump-29192018-02-08T04:26:35Z http://umpir.ump.edu.my/id/eprint/2919/ H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Mohd Riduwan, Ghazali Mohd Anwar, Zawawi L. H., Shah TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This study presents investigations into the development of H-infinity controller with LMI region schemes for trajectory tracking and vibration control of a Flexible Robot Manipulator System. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. H-infinity synthesis with pole clustering schemes is used to control the hub angle with very minimal vibration at the end-point of the manipulator. The performance of the flexible robot manipulator system is examined in terms of time response specifications of hub angle, minimal vibration at the end-point of the manipulator and minimal control input torque. To examine the effectiveness of the proposed controller, it is compared with hybrid input shaping with collocated PD controller schemes. The implementation results show that H-infinity controller with confined closed-loop poles based on LMI region produce a fast tracking capability with very minimal end-point vibration and smooth control input torque. MedWell, Journal 2012-10-15 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2919/1/275-281.pdf Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Mohd Riduwan, Ghazali and Mohd Anwar, Zawawi and L. H., Shah (2012) H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator. Research Journal of Applied Sciences, 7 (5). pp. 275-281. ISSN 1815-932X http://www.medwelljournals.com/abstract/?doi=rjasci.2012.275.281
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Mohd Riduwan, Ghazali Mohd Anwar, Zawawi L. H., Shah H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator
description	This study presents investigations into the development of H-infinity controller with LMI region schemes for trajectory tracking and vibration control of a Flexible Robot Manipulator System. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. H-infinity synthesis with pole clustering schemes is used to control the hub angle with very minimal vibration at the end-point of the manipulator. The performance of the flexible robot manipulator system is examined in terms of time response specifications of hub angle, minimal vibration at the end-point of the manipulator and minimal control input torque. To examine the effectiveness of the proposed controller, it is compared with hybrid input shaping with collocated PD controller schemes. The implementation results show that H-infinity controller with confined closed-loop poles based on LMI region produce a fast tracking capability with very minimal end-point vibration and smooth control input torque.
format	Article
author	Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Mohd Riduwan, Ghazali Mohd Anwar, Zawawi L. H., Shah
author_facet	Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Mohd Riduwan, Ghazali Mohd Anwar, Zawawi L. H., Shah
author_sort	Mohd Zaidi, Mohd Tumari
title	H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator
title_short	H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator
title_full	H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator
title_fullStr	H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator
title_full_unstemmed	H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator
title_sort	h-infinity controller based on lmi region for flexible robot manipulator
publisher	MedWell, Journal
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/2919/ http://umpir.ump.edu.my/id/eprint/2919/ http://umpir.ump.edu.my/id/eprint/2919/1/275-281.pdf
first_indexed	2023-09-18T21:56:55Z
last_indexed	2023-09-18T21:56:55Z
_version_	1777414140564865024

H-Infinity Controller Based on LMI Region for Flexible Robot Manipulator

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