ℋ<inf>∞</inf> state feedback LPV control of a SCARA robot

Abstract

This paper is dedicated to the ℋ <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> control of a SCARA robot represented by a Linear Parameter Varying (LPV) model. From a usual nonlinear Lagragian equation of the system, its LPV representation is obtained by using a Jacobian linearization. Then a new method based on the choice of a particular Lyapunov matrix permits to design a ℋ <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> constant state feedback controller for the robotic LPV system via LMI.