COMPUTATIONAL METHOD H_∞ APPLIED TO DEXTEROUS HAND MASTER - DHM

• DOI: 10.22533/at.ed.648191030933

• Palavras-chave: Atena

• Keywords: Computational Methods, H∞, Robust, DHM Control

• Abstract:

  The most commonly used

  controller design techniques, such as LQR,

  PID and LQG, require only a simple model of

  the plant to be controlled. In particular, these

  control system de- sign methods did not take

  into account, explicitly and quantitatively,

  possible perturbations, un- certainties, modeling

  errors in the system transfer function, noise

  measurements, among other uncertainties

  during the dynamic process of experiments.

  This work uses the compu- tational method for

  the robust control of the mechanical system of

  the DHM (Dexterous Hand Master) through the

  mathematical modeling of the DHM plant, in

  order to determine a suitable robust controller of

  this plant able to stabilize the system, minimizing

  the effects of disturbances that are inherent in the

  system. The H-infinite controller for this system

  is designed consider- ing some modeling of the

  uncertainties that characterize the disturbances

  inherent in the DHM plant. The simulations are

  performed in MATLAB software and satisfactory

  results are pre- sented.

• Número de páginas: 15