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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhao, Xing Stalford, Harold L. Hanagud, Sathya V. |
| Copyright Year | 1991 |
| Description | Author affiliation: Professor, member of IEEE and AIAA, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30882 (Stalford, Harold L.) || Graduate student, student member of ASME and IEEE, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30882 (Zhao, Xing) || Professor, member of AIAA, ASME and AHS, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30882 (Hanagud, Sathya V.) |
| Abstract | The robust control of uncertain manipulator arm systems is treated using feedback linearization to geneate an uncertain linear model and applying $H_{∞}/μ$ control synthesis and analysis to design a controller for robust performance. A simple method for inverting an uncertain mass matrix. The presented theory is successfully applied to the uncertain nonlinear system of an inverted pendulum on a cart. |
| Starting Page | 2051 |
| Ending Page | 2056 |
| File Size | 320237 |
| Page Count | 6 |
| File Format | |
| ISBN | 0879425652 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-26 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Arm Manipulator dynamics Robots Sun Mesons Cost function Design methodology Shape Tellurium Jacobian matrices |
| Content Type | Text |
| Resource Type | Article |
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