| Título |
Optimal Networked Control of a 2 Degree-of-Freedom Direct Drive Robot Manipulator |
| Autores |
ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO, BEJARANO PELLICER, GUILLERMO, Vivas, Carlos , Rubio, Francisco R. |
| Publicación externa |
Si |
| Medio |
IEEE International Conference on Emerging Technologies and Factory Automation-ETFA |
| Alcance |
Proceedings Paper |
| Naturaleza |
Científica |
| Impacto SJR |
0.155 |
| Fecha de publicacion |
01/01/2010 |
| ISI |
000313616400137 |
| Abstract |
This paper proposes a suboptimal control solution for the L-2-gain disturbance rejection problem for networked control systems. The problem, usually referred as mixed H-2/H-infinity, aims at designing a linear state feedback stabilizing controller minimizing a quadratic cost functional subject to a L-2-gain disturbance rejection constraint. The formulation deals with time-varying delays and dropouts in both, sensor-to-controller and controller-to-actuator paths, with the only assumption of known minimum and maximum bounds of the round trip delay, and the maxi mum number of consecutive dropouts. The solution is based on a Lyapunov-Krasovskii approach and is formulated as a Nonlinear Matrix Inequality (NLMI) problem. This problem is cast into more a treatable LMI-based minimization problem, for which a well-known optimization algorithm is provided. Experimental results on a networked controlled direct-drive 2 degree-of-freedom (dof) robot manipulator are provided to verify the performance of the methodology. |
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