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Teaching sampled‐data H ∞ control theory using arm robot experiment system
Author(s) -
She Jinhua,
Xin Xin,
Ohyama Yasuhiro
Publication year - 2011
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20699
Subject(s) - control theory (sociology) , controller (irrigation) , robotic arm , control engineering , stability (learning theory) , control system , robot , control (management) , digital control , tracking (education) , full state feedback , computer science , engineering , artificial intelligence , psychology , pedagogy , electrical engineering , machine learning , agronomy , biology
This paper explains how to use an arm robot experiment system to teach sampled‐data H ∞ control theory. A design procedure is presented for a digital tracking control system for a continuous plant with structured uncertainties; the target is the positioning control of an arm robot. To guarantee the robust stability of the closed‐loop system and provide the desired closed‐loop performance, the design problem is first formulated as a sampled‐data H ∞ control problem, and is then transformed into an equivalent discrete‐time H ∞ control problem. Finally, linear matrix inequalities are used to obtain a reduced‐order output‐feedback controller and a static state‐feedback controller. In a course, the design procedure is explained and practice is provided through simulations and experiments. © 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.