Nonlinear H-infinity Controllers for Underactuated Cooperative Manipulators

Authors:	Siqueira Adriano, University of São Paulo at São Carlos, Brazil Terra Marco, University of São Paulo at São Carlos, Brazil
Topic:	4.3 Robotics
Session:	Robot Manipulators Control
Keywords:	Underactuated cooperative manipulators, nonlinear H-infinity control

Abstract

In this paper, two nonlinear H-infinity control 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. In the second technique, the game theory gives an explicit solution of the H-infinity control of manipulators. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual cooperative manipulator, that it is able to work as a fully actuated and an underactuated manipulator, are presented.