Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator

M. F. Khelfi, Abdelkader Abdessameud

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper deals with the design problem of an H observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an H filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization result based on the weak detectability of the system is obtained and the semi-global asymptotic stability of the equilibrium point of the combined system is shown. Simulation results on a six D-O-F PUMA 560 robot manipulator show the asymptotic convergence of the reconstruction and tracking error vectors.

Original languageEnglish (US)
Title of host publicationProceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007
Pages88-94
Number of pages7
DOIs
StatePublished - Oct 16 2007
EventIEEE International Electric Machines and Drives Conference, IEMDC 2007 - Antalya, Turkey
Duration: May 3 2007May 5 2007

Publication series

NameProceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007
Volume1

Other

OtherIEEE International Electric Machines and Drives Conference, IEMDC 2007
CountryTurkey
CityAntalya
Period5/3/075/5/07

Fingerprint

Manipulators
Trajectories
Robots
Controllers
Stabilization
Asymptotic stability
Error analysis
Robotics

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Khelfi, M. F., & Abdessameud, A. (2007). Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator. In Proceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007 (pp. 88-94). [4270620] (Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007; Vol. 1). https://doi.org/10.1109/IEMDC.2007.383558
Khelfi, M. F. ; Abdessameud, Abdelkader. / Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator. Proceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007. 2007. pp. 88-94 (Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007).
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Khelfi, MF & Abdessameud, A 2007, Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator. in Proceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007., 4270620, Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007, vol. 1, pp. 88-94, IEEE International Electric Machines and Drives Conference, IEMDC 2007, Antalya, Turkey, 5/3/07. https://doi.org/10.1109/IEMDC.2007.383558

Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator. / Khelfi, M. F.; Abdessameud, Abdelkader.

Proceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007. 2007. p. 88-94 4270620 (Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007; Vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper deals with the design problem of an H∞ observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an H∞ filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization result based on the weak detectability of the system is obtained and the semi-global asymptotic stability of the equilibrium point of the combined system is shown. Simulation results on a six D-O-F PUMA 560 robot manipulator show the asymptotic convergence of the reconstruction and tracking error vectors.

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Khelfi MF, Abdessameud A. Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator. In Proceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007. 2007. p. 88-94. 4270620. (Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007). https://doi.org/10.1109/IEMDC.2007.383558