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Faculty of Science, University of Brunei Darussalam, Brunei Darussalam   
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IJIEE 2015 Vol.5(3): 198-203 ISSN: 2010-3719
DOI: 10.7763/IJIEE.2015.V530

Robust Control of Two Link Rigid Manipulator

Pawan Singh Yadav and Narinder Singh
Abstract— Two Link Rigid Manipulator (TLRM) is highly unstable and non-linear system thus its stability is a matter of concern. This paper presents Lagrange-Euler method for deriving the dynamics of TLRM. The uncertain model is considered using LFT. Parametric uncertainty in moment of inertia and co-efficient of friction in the TLRM is considered and uncertainty in actuators. Two different robust control strategies, H∞ and μ-synthesis are used and compared. Results show that μ-synthesis controller has superior robust performance of the proposed two robust control methods.

Index Terms— H∞ controller, linear fractional transformation (LFT), μ-synthesis controller, parametric uncertainty, robust control, two link rigid manipulator (TLRM).

The authors are with the Department of Instrumentation and Control Engineering, Dr. B. R. Ambedkar National Institute of Technology, Jalandhar, India (e-mail: pawan.moonlight1301@gmail.com, singhn@nitj.ac.in).


Cite: Pawan Singh Yadav and Narinder Singh, " Robust Control of Two Link Rigid Manipulator," International Journal of Information and Electronics Engineering vol. 5, no. 3, pp. 198-203, 2015.

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