Comments on ‘Less conservative conditions for robust LQR-state-derivative controller design: an LMI approach’ and new sufficient LMI conditions for invertibility of a convex combination of matrices

Roberto Kawakami Harrop Galvão ◽  
Marcelo Carvalho Minhoto Teixeira ◽  
Tomasz Szulc ◽  
Edvaldo Assunção ◽  
Marco Antonio Leite Beteto
2002 ◽  
Vol 12 (1) ◽  
pp. 3-13 ◽  
Ming Ge ◽  
Min-Sen Chiu ◽  
Qing-Guo Wang

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

2005 ◽  
Vol 38 (1) ◽  
pp. 51-56
Guisheng Zhai ◽  
Masaharu Yoshida ◽  
Joe Imae ◽  
Tomoaki Kobayashi

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