Title :
A performance recovery to robust H∞ control for robot based on high-gain observer
Author :
Jiang, Peigang ; Li, Chunwen ; Wen, Xu ; Long, Tujing
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
The dynamic performance of the robot is always affected by the parameter uncertainties and unknown disturbance. When the joint positions and velocities of the robot can be measured, the unknown disturbance can be attenuated and the exponential stability can be guaranteed by the state feedback under some conditions. If the joint positions can be measured, but the velocities can´t be measured, the dynamic performance of the close-loop system can be recovered by the high-gain observer.
Keywords :
H∞ control; asymptotic stability; closed loop systems; observers; robots; robust control; state feedback; uncertain systems; closed-loop system; dynamic performance; exponential stability; high-gain observer; joint position measurement; joint velocity measurement; parameter uncertainties; performance recovery; robot; robust H∞ control; state feedback; unknown disturbance; unknown disturbance attenuation; Automatic control; Intelligent control; Position measurement; Robot control; Robotics and automation; Robust control; Stability; State feedback; Uncertain systems; Velocity measurement;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1022213
