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
收藏
页码：3986 / 3990
页数：5
相关论文
共 50 条
  • [31] Nonlinear tracking control of kinematically redundant robot manipulators
    Zergeroglu, E
    Dawson, DD
    Walker, IW
    Setlur, P
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2004, 9 (01) : 129 - 132
  • [32] TRACKING CONTROL FOR ROBOT MANIPULATORS WITH KINEMATIC AND DYNAMIC UNCERTAINTY
    Braganza, D.
    Dixon, W. E.
    Dawson, D. M.
    Xian, B.
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2008, 23 (02): : 117 - 126
  • [33] Nonlinear tracking control of kinematically redundant robot manipulators
    Zergeroglu, E
    Dawson, DM
    Walker, I
    Behal, A
    PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 2513 - 2517
  • [34] Tracking control of robot manipulators with bounded torque inputs
    Dixon, WE
    de Queiroz, MS
    Zhang, F
    Dawson, DM
    ROBOTICA, 1999, 17 : 121 - 129
  • [35] Decentralized robust adaptive tracking control of robot manipulators
    Dai, Ying
    Zheng, Nanning
    Li, Chunlai
    Jiqiren/Robot, 20 (03): : 187 - 191
  • [36] Neural network robust H∞ control strategy for robot manipulators for robot manipulators
    Zuo, Yi
    Wang, Yaonan
    Liu, Xinzhi
    Yang, Simon X.
    Huang, Lihong
    Wu, Xiru
    Wang, Zengyun
    APPLIED MATHEMATICAL MODELLING, 2010, 34 (07) : 1823 - 1838
  • [37] Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
    Chiu, CS
    Lian, KY
    Wu, TC
    AUTOMATICA, 2004, 40 (12) : 2111 - 2119
  • [38] Global Asymptotic Saturated PID Control for Robot Manipulators
    Su, Yuxin
    Mueller, Peter C.
    Zheng, Chunhong
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (06) : 1280 - 1288
  • [39] Global PID Control of Robot Manipulators Equipped with PMSMs
    Hernandez-Guzman, V. M.
    Orrante-Sakanassi, J.
    ASIAN JOURNAL OF CONTROL, 2018, 20 (01) : 236 - 249
  • [40] L2-Gain Analysis of a Global Nonlinear H∞ Control for Robot Manipulators
    Osuna Altamirano, Topacio
    Aguilar, Luis T.
    IFAC PAPERSONLINE, 2022, 55 (25): : 205 - 210
12345