NDLI: Robust control of robot manipulator with actuators

Content Provider	Springer Nature Link
Author	Yim, Jongguk Park, Jong Hyeon
Copyright Year	2001
Abstract	A Robust controller is designed for cascaded nonlinear uncertain systems that can be decomposed into two subsystems; that is, a series connection of two nonlinear subsystems, such as a robot manipulator with actuators. For such systems, a recursive design is used to include the second subsystem in the robust control. The recursive design procedure contains two steps. First, a fictitious robust controller for the first subsystem is designed as if the subsystem had an independent control. As the fictitious control, a nonlinearH∞ control using energy dissipation is designed in the sense ofL $_{2}$-gain attenuation from the disturbance caused by system uncertainties to performance vector. Second, the actual robust control is designed recursively by Lyapunov’s second method. The designed robust control is applied to a robotic system with actuators, in which the physical control inputs are not the joint torques, but electrical signals to the actuators.
Starting Page	320
Ending Page	326
Page Count	7
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	15
Issue Number	3
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2001-01-01
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	H$_{∞}$ Control Recursive Design Nonlinear Matrix Inequality Robot Manipulator Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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