Title :
Combining IMC design with H∞ control and its application to a two-finger robot hand
Author :
Suzuki, Ryoichi ; Hasegawa, Satoshi ; Kobayashi, Nobuaki
Author_Institution :
Div. of Mech. Syst. Eng., Kanazawa Inst. of Technol., Ishikawa, Japan
Abstract :
In this paper, additive effects of a control method derived by combining the internal model control (IMC) and H∞ control are proposed. The proposed method is then applied to tracking control for a two-finger robot hand. The effectiveness of the proposed method is confirmed by comparative experiments. The results obtained show that the proposed method is effective on tracking control and improving the disturbance estimation property
Keywords :
H∞ control; control system synthesis; manipulator dynamics; tracking; H∞ control; internal model control; linear time invariant system; manipulators; robot hand; tracking; Additives; Control design; Mechanical systems; Process control; Robots; Robust control; Systems engineering and theory; Time invariant systems; Trajectory; Vectors;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.974014
