• DocumentCode
    1687403
  • Title

    Disturbance attenuation and set-point regulation of rigid robots via H∞ control

  • Author

    Astolfi, A. ; Lanari, L.

  • Author_Institution
    Autom. Control Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
  • Volume
    3
  • fYear
    1994
  • Firstpage
    2578
  • Abstract
    Proposes a possible strategy for disturbance attenuation and set-point regulation for a rigid robot using the notion of L2-gain of a system. The authors discuss the use of H∞ control for trajectory tracking and show, for the particular case of rigid robots, that a PD type controller is sufficient to render the closed loop system from the exogenous input (disturbances and references) to the error variable dissipative with respect to the supply rate associated with the notion of L2-gain
  • Keywords
    H∞ control; closed loop systems; position control; robots; two-term control; H∞ control; L2-gain; PD type controller; closed loop system; disturbance attenuation; rigid robots; set-point regulation; trajectory tracking; Attenuation; Automatic control; Closed loop systems; Control systems; Robot control; Robot kinematics; Robotics and automation; Stability; Tracking loops; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
  • Conference_Location
    Lake Buena Vista, FL
  • Print_ISBN
    0-7803-1968-0
  • Type

    conf

  • DOI
    10.1109/CDC.1994.411533
  • Filename
    411533
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1687403