L2-Gain Analysis of a Global Nonlinear H∞ Control for Robot Manipulators

被引：1
|
作者：
Osuna Altamirano, Topacio [1 ]
Aguilar, Luis T. [2 ]
机构：
[1] Univ Autonoma Sinaloa, Fac Ciencias Fis Matemat, Culiacan, Sinaloa, Mexico
[2] Inst Politecn Nacl, Ave Inst Politecn Nacl 1310, Tijuana 22435, Mexico
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 25期
关键词：
L-2-gain analysis; nonlinear H-infinity control; robot manipulator; robustness;
D O I：
10.1016/j.ifacol.2022.09.348
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The synthesis of a global nonlinear H-infinity position regulator and the L-2-gain analysis are studied for robot manipulators. For the global solution, one needs to verify the Hamilton-Jacobi-Isaacs inequality for all initial conditions. The stability analysis of the unperturbed closed-loop system is made in the framework of Lyapunov function, while the robustness analysis is stated by the L-2-gain approach. Simulation results, made for an experimental robot, corroborate the developed analysis. Copyright (C) 2022 The Authors.
引用
收藏
页码：205 / 210
页数：6
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