<i>H</i><sub>∞</sub> Control for Systems with Mechanical Constraints Based on Orthogonal Decomposition
In this paper, we study <inline-formula data-eusoft-scrollable-element="1"><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline" data-eusoft-scrollable-element="1"><semantics data-eusoft-scrollable-element="1"><msub d...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/14/5/64 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | In this paper, we study <inline-formula data-eusoft-scrollable-element="1"><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline" data-eusoft-scrollable-element="1"><semantics data-eusoft-scrollable-element="1"><msub data-eusoft-scrollable-element="1"><mi data-eusoft-scrollable-element="1">H</mi><mo data-eusoft-scrollable-element="1">∞</mo></msub></semantics></math></inline-formula> control for systems with explicit mechanical constraints and a lack of state information, such as walking robots. This paper proposes an <inline-formula data-eusoft-scrollable-element="1"><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline" data-eusoft-scrollable-element="1"><semantics data-eusoft-scrollable-element="1"><msub data-eusoft-scrollable-element="1"><mi data-eusoft-scrollable-element="1">H</mi><mo data-eusoft-scrollable-element="1">∞</mo></msub></semantics></math></inline-formula> control design scheme based on solving an optimization problem with linear matrix inequality constraints. Our method is based on the orthogonal decomposition of the state variables and the use of two linear controllers and a Luenberger observer, tuned to achieve the desired properties of the closed-loop system. The method takes into account static linear additive disturbance, which appears due to the uncertainties associated with the mechanical constraints. We propose a dynamics linearization procedure for systems with mechanical constraints, taking into account the inevitable lack of information about the environment; this procedure allows a nonlinear system to be transformed into a form suitable for the application of the proposed control design method. The method is tested on a constrained underactuated three-link robot and a flat quadruped robot, showing the desired behavior in both cases. |
|---|---|
| ISSN: | 2218-6581 |