COMPUTATIONAL METHOD H1 APPLIED TO DEXTEROUS HAND MASTER - DHM

Resumen

The most commonly used controller design techniques, such as LQR, PID and LQG,require only a simple model of the plant to be controlled. In particular, these control system designmethods did not take into account, explicitly and quantitatively, possible perturbations, uncertainties,modeling errors in the system transfer function, noise measurements, among otheruncertainties during the dynamic process of experiments. This work uses the H-infinite computationalmethod for the robust control of the mechanical system of the DHM (Dexterous HandMaster) through the mathematical modeling of the DHM plant, in order to determine a suitablerobust controller of this plant able to stabilize the system, minimizing the effects of disturbancesthat are inherent in the system. The H-infinite controller for this system is designed consideringsome modeling of the uncertainties that characterize the disturbances inherent in the DHMplant. The simulations are performed in MATLAB software and satisfactory results are presented