Title :
H∞ controller design for coordinative manipulation by multiple actuators
Author :
Sugie, Toshiharu ; Shibukawa, Hirohisa
Author_Institution :
Div. of Appl. Syst. Sci., Kyoto Univ., Japan
Abstract :
This paper proposes a design method of the robust coordinative control system based on the combination of the exact linearization and the H∞ loop shaping method. In addition, the effectiveness of our controller is illustrated by experiments
Keywords :
H∞ control; actuators; control system synthesis; dynamics; linearisation techniques; manipulators; robust control; H∞ controller; H∞ loop shaping; actuators; coordinative manipulation; linearization; manipulators; robust coordinative control system; Control system synthesis; Control systems; Design methodology; Equations; Error correction; Hydraulic actuators; Jacobian matrices; Manipulator dynamics; Robust control; Shape control;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.410964
