• DocumentCode
    313651
  • 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
  • Volume
    1
  • fYear
    1997
  • fDate
    4-6 Jun 1997
  • Firstpage
    111
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1997. Proceedings of the 1997
  • Conference_Location
    Albuquerque, NM
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-3832-4
  • Type

    conf

  • DOI
    10.1109/ACC.1997.611765
  • Filename
    611765
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=313651