Title :
Analytic nonlinear H∞ inverse-optimal control for Euler-Lagrange system
Author :
Park, Jonghoon ; Chung, Wan Kyun
Author_Institution :
ARC, Pohang Inst. of Sci. & Technol., South Korea
fDate :
12/1/2000 12:00:00 AM
Abstract :
The success in nonlinear H∞ control design is applied to the control of Euler-Lagrange systems. It is known that the existence of H∞ optimal control depends on solvability of the so-called Hamilton-Jacobi-Isaacs H∞ partial differential equation. In the article, the associated HJI equation for nonlinear H∞ inverse-optimal control problem for a Euler-Lagrangian system is solved analytically. The resulting control is referred to as the reference error feedback, which takes conventional PID controller form. Consequently, robust motion control can be designed for robot manipulators using L2-gain attenuation from exogenous disturbance and parametric error
Keywords :
H∞ control; compensation; feedback; manipulators; motion control; nonlinear control systems; robust control; Euler-Lagrange system; Hamilton-Jacobi-Isaacs H∞ partial differential equation; L2-gain attenuation; analytic nonlinear H∞ inverse-optimal control; conventional PID controller; exogenous disturbance; parametric error; reference error feedback; robot manipulators; robust motion control; Control design; Control systems; Error correction; Feedback; Nonlinear control systems; Nonlinear equations; Optimal control; Partial differential equations; Robust control; Three-term control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
