Robust control of manipulators using Hamiltonian optimization

Author

Choi, Youngjin ; Chung, W.K. ; Youm, Y.

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2358

Abstract

Although nonlinear H_∞ control theory for systems with uncertainties has been developed, it has been rarely applied to robot manipulators. We derive Hamiltonian equations of motion and Hamiltonian matrix (Riccati equation) for robot manipulators to get an optimal controller. Using the H_∞ framework, we specify the L₂ norm of the performance measure, which consists of the position and momentum error during the task when there are uncertainties in the dynamic model of robot manipulators. For practical application, a stationary solution of the Riccati equation for the end-point is suggested and evaluated by simulation

Keywords

H^∞ control; Riccati equations; manipulator dynamics; matrix algebra; nonlinear control systems; optimisation; robust control; Hamiltonian equations of motion; Hamiltonian matrix; Hamiltonian optimization; L₂ norm; Riccati equation; dynamic model; manipulators; momentum error; nonlinear H_∞ control theory; optimal controller; performance measure; position error; robust control; stationary solution; Control theory; Manipulator dynamics; Motion control; Nonlinear equations; Optimal control; Position measurement; Riccati equations; Robots; Robust control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619314

Filename

619314