Title :
Disturbance attenuation and set-point regulation of rigid robots via H∞ control
Author :
Astolfi, A. ; Lanari, L.
Author_Institution :
Autom. Control Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
Proposes a possible strategy for disturbance attenuation and set-point regulation for a rigid robot using the notion of L2-gain of a system. The authors discuss the use of H∞ control for trajectory tracking and show, for the particular case of rigid robots, that a PD type controller is sufficient to render the closed loop system from the exogenous input (disturbances and references) to the error variable dissipative with respect to the supply rate associated with the notion of L2-gain
Keywords :
H∞ control; closed loop systems; position control; robots; two-term control; H∞ control; L2-gain; PD type controller; closed loop system; disturbance attenuation; rigid robots; set-point regulation; trajectory tracking; Attenuation; Automatic control; Closed loop systems; Control systems; Robot control; Robot kinematics; Robotics and automation; Stability; Tracking loops; Trajectory;
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.1994.411533
