DocumentCode :
1519560
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
Volume :
46
Issue :
8
fYear :
2001
fDate :
8/1/2001 12:00:00 AM
Firstpage :
1313
Lastpage :
1318
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;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/9.940941
Filename :
940941
Link To Document :
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