Title :
On the μ control of uncertain manipulator arms
Author :
Zhao, Xing ; Stalford, Harold L. ; Hanagud, Sathya V.
Author_Institution :
Graduate student, student member of ASME and IEEE, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30882
Abstract :
The robust control of uncertain manipulator arm systems is treated using feedback linearization to geneate an uncertain linear model and applying H∞/μ control synthesis and analysis to design a controller for robust performance. A simple method for inverting an uncertain mass matrix. The presented theory is successfully applied to the uncertain nonlinear system of an inverted pendulum on a cart.
Keywords :
Arm; Cost function; Design methodology; Jacobian matrices; Manipulator dynamics; Mesons; Robots; Shape; Sun; Tellurium;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
