Title :
Robust control of manipulators using Hamiltonian optimization
Author :
Choi, Youngjin ; Chung, W.K. ; Youm, Y.
Abstract :
Although nonlinear H∞ control theory for systems with uncertainties has been developed, it has been rarely applied to robot manipulators. We derive Hamiltonian equations of motion and Hamiltonian matrix (Riccati equation) for robot manipulators to get an optimal controller. Using the H∞ framework, we specify the L2 norm of the performance measure, which consists of the position and momentum error during the task when there are uncertainties in the dynamic model of robot manipulators. For practical application, a stationary solution of the Riccati equation for the end-point is suggested and evaluated by simulation
Keywords :
H∞ control; Riccati equations; manipulator dynamics; matrix algebra; nonlinear control systems; optimisation; robust control; Hamiltonian equations of motion; Hamiltonian matrix; Hamiltonian optimization; L2 norm; Riccati equation; dynamic model; manipulators; momentum error; nonlinear H∞ control theory; optimal controller; performance measure; position error; robust control; stationary solution; Control theory; Manipulator dynamics; Motion control; Nonlinear equations; Optimal control; Position measurement; Riccati equations; Robots; Robust control; Uncertainty;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619314
