DocumentCode
706740
Title
Inverse optimal H∞ disturbance attenuation of robotic manipulators
Author
Maruyama, Akira ; Fujita, Masayuki
Author_Institution
Ind. Robot Dev. Dept., Nachi-Pujicoshi Corp., Toyama, Japan
fYear
1999
fDate
Aug. 31 1999-Sept. 3 1999
Firstpage
2413
Lastpage
2418
Abstract
This paper deals with an inverse optimal H∞, disturbance attenuation of the Euler Lagrange systems. The ISS control Lyapunov function is constructed by the energy function of full Lagrangian dynamics, i.e. the Euler-Lagrange systems are input-to-state stabilizability. The ISS-CLF gives us an inverse optimal H∞ control law. Further, we discuss that the inverse optimal H∞ controller has robustness against input uncertainties.
Keywords
H∞ control; Lyapunov methods; manipulators; optimal control; uncertain systems; Euler Lagrange systems; ISS control Lyapunov function; Lagrangian dynamics; energy function; input-to-state stabilizability; inverse optimal H∞ controller; inverse optimal H∞ disturbance attenuation; robotic manipulators; Lyapunov methods; Manipulator dynamics; Robustness; Trajectory; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1999 European
Conference_Location
Karlsruhe
Print_ISBN
978-3-9524173-5-5
Type
conf
Filename
7099684
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