Nonlinear Η_∞ controllers for underactuated cooperative manipulators

摘要

In this paper, two Nonlinear Η_∞ controllers techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators Η_∞ control problem. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.