A further result of the nonlinear mixed H-2/H-infinity tracking control problem for robotic systems

作者：Huang CQ^*; Wang XG; Wang ZG

来源：Journal of Robotic Systems, 2002, 19(1): 25-36.

DOI：10.1002/rob.8119

The design objective of a mixed H-2/H-infinity control is to find the H-2 optimal tracking control law under a prescribed disturbance attenuation level. With the help of the technique of completing the squares, a further result of the mixed H-2/H-infinity optimal tracking control problem is presented, by combining it with standard LQ optimal control technique. In this paper, only a nonlinear time-varying Riccati equation is required to solve the problem in the design procedure instead of two coupled nonlinear time-varying Riccati equations, or two coupled linear algebraic Riccati-like equations-with some assumptions made regarding the weighting matrices in the existing results. A closed-form controller for the mixed H-2/H-infinity robotic tracking problem is simply constructed with a matrix inequality check. Moreover, it shows that the existing results are the special cases of these :results. Finally, detailed comparison is performed by numerical simulation of a two-link robotic manipulator.

• 出版日期2002-1