• DocumentCode
    1519560
  • Title

    H∞ tuning for task-space feedback control of robot with uncertain Jacobian matrix

  • Author

    Cheah, C.C. ; Kawamura, S. ; Arimoto, S. ; Lee, K.

  • Author_Institution
    Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
  • Volume
    46
  • Issue
    8
  • fYear
    2001
  • fDate
    8/1/2001 12:00:00 AM
  • Firstpage
    1313
  • Lastpage
    1318
  • Abstract
    The H∞ tuning problem for task-space feedback control of a robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H∞ tuning methods are presented for two task-space feedback controllers when the systems are subject to external disturbance. It is shown that the conditions for the establishment of H∞ tuning can be obtained in simple forms without solving the Hamilton-Jacobi inequalities even in the presence of kinematics uncertainty
  • Keywords
    H∞ control; Jacobian matrices; asymptotic stability; feedback; position control; robot kinematics; tuning; uncertain systems; H∞ tuning; external disturbance; task-space feedback control; uncertain Jacobian matrix; uncertain kinematics; Adaptive control; Equations; Feedback control; Jacobian matrices; Kinematics; Lagrangian functions; Orbital robotics; Position control; Robots; Uncertainty;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/9.940941
  • Filename
    940941
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1519560