Title :
Decoupling property of full Information H∞ control and its application to mechanical systems
Author :
Suzuki, Ryo ; Tani, Motoaki ; Ikemoto, Makoto ; Fujiki, Noriaki ; Kobayashi, Nao
Author_Institution :
Dept. of Robotics, Kanazawa Inst. of Technol., Ishikawa
Abstract :
In this paper, a limiting property of full information Hinfin control is discussed. Existence of a stabilizing solution to the control problem is shown, and limiting behaviors, i.e., disturbance attenuation property and decoupling property, of the closed-loop system are proposed. Moreover, the relationship with limiting properties of LQ control is also mentioned. To confirm effectiveness of the proposed limiting property of full information H infin control, the paper gives experimental results on decoupling control of a 2-link robot manipulator
Keywords :
Hinfin control; closed loop systems; linear quadratic control; manipulators; 2-link robot manipulator; Hinfin control; LQ control; closed-loop system; decoupling control; mechanical systems; Attenuation; Control systems; Feedback; Manipulators; Mechanical factors; Mechanical systems; Mechanical variables measurement; Riccati equations; Robots; Stability;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776737
