Discrete-time optimal and robust LQR/H(2) control of robotic systems (Vibration damping)

This dissertation provides a thorough description of both discrete-time LQR/Kalman-Estimator and H₂ robust/optimal control design methods. This work gives an in-depth account of the development of the Rutgers PC real-time control software called WinReC that runs on Personal Computers under Microsoft© Windows NT® workstation. In the first robotic application of the proposed control design methods, the mathematical model of robot manipulators handling flexible payloads is developed and used in both LQR and H₂ control designs. Experimental demonstrations of the controllers using a five-degree-of-freedom industrial manipulator are described. In the second application, the LQR and H₂ designed controllers are applied on the SMA bundle actuator, which lifts weights up to 44Kg.