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

HuangChunqing、ShiSongjiao

2004Acta Scientiarum Naturalium Universitatis SunyatseniEngineering被引 1

摘要

The design objective of a mixed H2/H∞ control is to find the H2 optimal control law trader 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.

引用本文（GB/T 7714）