Title :
Nonlinear H∞ control of robotic manipulator
Author :
Yim, Jongguk ; Park, Jong Hyeon
Author_Institution :
Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea
fDate :
6/21/1905 12:00:00 AM
Abstract :
H∞ control theory for nonlinear systems has been developed, which is based on the concept of energy dissipation. A nonlinear H∞ controller using energy dissipation is designed in the sense of L2-gain attenuation from a disturbance to performance and it is essential to find the solution of the Hamilton Jacobi (HJ) equation (or inequality) for application. However, it is difficult to obtain its solution in general. In this paper, the robot dynamics is transformed to a affine form to express the HJ inequality as a more tractable form, i.e., a nonlinear matrix inequality (NLMI), and its approximated solution is obtained from the fact that the terms in matrices which describe robot manipulator can be bounded
Keywords :
H∞ control; manipulator dynamics; matrix algebra; nonlinear control systems; H∞ control theory; Hamilton Jacobi equation; L2-gain attenuation; affine form; approximated solution; energy dissipation; inequality; nonlinear H∞ control; nonlinear H∞ controller; nonlinear matrix inequality; nonlinear systems; robot dynamics; robotic manipulator; Control systems; Energy dissipation; Jacobian matrices; Linear matrix inequalities; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Riccati equations; Robot control;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.825375
