• DocumentCode
    2065177
  • 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
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    1077
  • Lastpage
    1082
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/CCA.2001.974014
  • Filename
    974014
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2065177