Title :
H∞ control of a robot manipulator using a linear parameter varying representation
Author :
Namerikawa, Toru ; Fujita, Masayuki ; Matsumura, Fumio
Author_Institution :
Dept. of Electr. & Comput. Eng., Kanazawa Univ., Japan
Abstract :
This paper deals with a robust control scheme for a flexible-joint robot manipulator using a linear parameter varying representation. We show this system can be brought to a quasi-linear parameter varying form by a state transformation. Using this form, we design a controller by μ-synthesis to achieve robust performance
Keywords :
H∞ control; control system synthesis; manipulator dynamics; nonlinear control systems; robust control; μ-synthesis; H∞ control; dynamic model; feedback; flexible-joint robot; linear parameter varying representation; manipulator; nonlinear systems; robust control; DC motors; Employment; Feedback control; Gears; Information science; Manipulator dynamics; Robot control; Robust control; Transfer functions; Uncertainty;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611765
