Global H∞ control design for tracking control of robot manipulators

被引：0
|
作者：
Acho, L [1 ]
Orlov, Y [1 ]
Aguilar, L [1 ]
机构：
[1] Ctr Invest & Dessarrollo Tecnol Digital CITEDI IP, Tijuana, BC, Mexico
来源：
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2002年 / 1-6卷
关键词：
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：
Global Hinfinity-controller synthesis is developed for tracking control of robot manipulators. The synthesis of the controller is based on Lyapunov function instead of solving the HJI equation. Theoretical result is supported by simu-lation of the H-infinity tracking control of a two link robot manipulator.
引用
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页码：3986 / 3990
页数：5
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