H2 decoupling control with limiting properties and its application to robot manipulator

被引：0
|
作者：
Kobayashi, N [1 ]
Kawashima, M [1 ]
Fujita, M [1 ]
机构：
[1] Japan Adv Inst Sci & Technol, Sch Informat Sci, Ishikawa 9231292, Japan
来源：
IECON '98 - PROCEEDINGS OF THE 24TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 | 1998年
关键词：
LQ optimal control; multivariable system; non-minimum phase system; decoupling control; robot manipulator;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a decoupling control for a non-minimum phase system is considered from a Limiting form of linear optimal regulator problem point of view. It is shown that an explicit relationship between the Limiting properties by letting the weighting matrix of the output vector tend to infinity and a decoupling control. It gives also an experimental application to a robot manipulator to illustrate effectiveness on decoupling control with the limiting properties.
引用
收藏
页码：1399 / 1404
页数：6
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