Multi-model system design using H Multi-controllers for a robotic wrist

Zennir, Youcef; Larabi, Mohand Said; Guechi, El Hadi; Rezig, Salaheddine

Algerian Journal of Signals and Systems
Volume 3, Numéro 1, Pages 44-53
2018-03-31

Multi-model System Design Using H Multi-controllers For A Robotic Wrist

Authors : Zennir Youcef . Larabi Mohand Said . Guechi El Hadi . Rezig Salaheddine .

Abstract

In this paper we present a novel approach of multi-model system design used multi-controllers of Hv control type applied to control robotic wrist. we have presented modeling of our system( nonlinear and linear model) follows by the principal of our approach of control. we have presented Hv control principal used for control nonlinear system and linear local models around each operating points choose . Different simulations are realized in matlab-simulink software improve efficiency of our approach. Finally we have presented conclusion and discussed of obtained results followed by some perspectives for future work