• DocumentCode
    1636397
  • 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
  • Volume
    1
  • fYear
    1994
  • Firstpage
    835
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/CDC.1994.410964
  • Filename
    410964
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1636397