Title :
H∞ tuning for task-space feedback control of robot with uncertain Jacobian matrix
Author :
Cheah, C.C. ; Kawamura, S. ; Arimoto, S. ; Lee, K.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
fDate :
8/1/2001 12:00:00 AM
Abstract :
The H∞ tuning problem for task-space feedback control of a robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H∞ tuning methods are presented for two task-space feedback controllers when the systems are subject to external disturbance. It is shown that the conditions for the establishment of H∞ tuning can be obtained in simple forms without solving the Hamilton-Jacobi inequalities even in the presence of kinematics uncertainty
Keywords :
H∞ control; Jacobian matrices; asymptotic stability; feedback; position control; robot kinematics; tuning; uncertain systems; H∞ tuning; external disturbance; task-space feedback control; uncertain Jacobian matrix; uncertain kinematics; Adaptive control; Equations; Feedback control; Jacobian matrices; Kinematics; Lagrangian functions; Orbital robotics; Position control; Robots; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on