Nonlinear adaptive H∞ control for robotic manipulators with motor dynamics

被引：0
|
作者：
Miyasato, Y [1 ]
机构：
[1] Inst Stat Math, Tokyo 106, Japan
来源：
SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年
关键词：
robotic manipulator; H-infinity control; nonlinear control;
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：
A new class of adaptive nonlinear H-infinity control for electrically-driven robotic manipulators is proposed in this manuscript. Those control schemes axe derived as solutions of particular nonlinear H-infinity control problems, where both disturbances and estimation errors of unknown system parameters axe regarded as exogenous disturbances to the processes, and the L-2 gains from those uncertainties to generalized outputs are prescribed explicitly. The motor dynamics are also considered to synthesize motor terminal voltages as control inputs.
引用
收藏
页码：1940 / 1943
页数：4
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