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PID feedback for mixed H2/H tracking control of robotic manipulators

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2 Author(s)
Huang Chunqing ; Department of Automation, Shanghai Jiaotong University, Shanghai 200030, P.R. China ; Shi Songjiao

The design objective of a mixed H2/H control is to find the H2 optimal control law under aprescribed disturbance attenuation level. This paper addresses a optimal PID control law on the basis of the newsolution to mixed H2/H optimal control problem that provide much more flexible design compared to the existing works. Then a closed-form PID controller to mixed H2/H robotic tracking problem is simply constructed and hence the design procedure is presented. Finally, numerical simulations illustrate the effectiveness of the optimal PID feedback design proposed in this paper via a two-link robotic manipulator.

Published in:

Journal of Systems Engineering and Electronics  (Volume:15 ,  Issue: 4 )