• DocumentCode
    2080520
  • Title

    Global H∞ control design for tracking control of robot manipulators

  • Author

    Acho, L. ; Orlov, Y. ; Aguilar, L.

  • Author_Institution
    Centro de Investigacion y Desarrollo de Tecnologia Digital, Tijuana, Mexico
  • Volume
    5
  • fYear
    2002
  • fDate
    2002
  • Firstpage
    3986
  • Abstract
    Global H∞-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 simulation of the H∞ tracking control of a two link robot manipulator.
  • Keywords
    H∞ control; Lyapunov methods; control system synthesis; manipulators; tracking; H∞ tracking control simulation; Lyapunov function; controller synthesis; global H∞ control design; robot manipulators; tracking control; two link robot manipulator; Control design; Control systems; Differential equations; Lyapunov method; Manipulators; Nonlinear control systems; Nonlinear equations; Riccati equations; Robot control; State feedback;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2002. Proceedings of the 2002
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-7298-0
  • Type

    conf

  • DOI
    10.1109/ACC.2002.1024552
  • Filename
    1024552
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2080520