سال انتشار: ۱۳۸۵

محل انتشار: چهاردهمین کنفرانس مهندسی برق ایران

تعداد صفحات: ۶

نویسنده(ها):

S. Ozgoli – Advanced Robotics and Automated Systems (ARAS) Research Group Department of Electrical Engineering, K.N. Toosi University of Technology
H. D. Taghirad –

چکیده:

Mixed H2/H∞ method is proposed to design and implement a controller for flexible joint robots considering actuator saturation by considering the control action in the mixed sensitivity. A more advanced method based on frequency weighting of the control action contribution in the mixed sensitivity function is considered here which may result higher bandwidth. But this method is also limited and to get better specifications the H2/H∞ method is proposed. This methods are shown to be very good remedies for problems caused by actuator saturation in practice. Experimental studies are forwarded to verify the effectiveness and the performance of the proposed controllers in practice.